Abhim03 commited on
Commit
3b6e6f3
·
verified ·
1 Parent(s): 8c6b235

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/ArrangeUtensilsByType/20250805/lerobot/extras/dataset_meta.json +390 -0
  2. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000000/ep_meta.json +540 -0
  3. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000001/ep_meta.json +600 -0
  4. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000008/ep_meta.json +597 -0
  5. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000011/ep_meta.json +618 -0
  6. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000018/ep_meta.json +540 -0
  7. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000024/ep_meta.json +459 -0
  8. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000025/ep_meta.json +546 -0
  9. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000027/ep_meta.json +525 -0
  10. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000028/ep_meta.json +570 -0
  11. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000033/ep_meta.json +558 -0
  12. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000037/ep_meta.json +489 -0
  13. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000048/ep_meta.json +561 -0
  14. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000049/ep_meta.json +606 -0
  15. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000053/ep_meta.json +525 -0
  16. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000056/ep_meta.json +519 -0
  17. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000060/ep_meta.json +597 -0
  18. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000064/ep_meta.json +642 -0
  19. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000073/ep_meta.json +636 -0
  20. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000074/ep_meta.json +564 -0
  21. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000075/ep_meta.json +501 -0
  22. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000076/ep_meta.json +573 -0
  23. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000078/ep_meta.json +525 -0
  24. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000079/ep_meta.json +705 -0
  25. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000084/ep_meta.json +546 -0
  26. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000087/ep_meta.json +642 -0
  27. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000092/ep_meta.json +597 -0
  28. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000100/ep_meta.json +525 -0
  29. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/embodiment.json +8 -0
  30. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes.jsonl +102 -0
  31. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes_stats.jsonl +0 -0
  32. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/info.json +179 -0
  33. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/modality.json +72 -0
  34. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/stats.json +378 -0
  35. pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/tasks.jsonl +2 -0
  36. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000003/ep_meta.json +613 -0
  37. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000005/ep_meta.json +583 -0
  38. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000006/ep_meta.json +605 -0
  39. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000009/ep_meta.json +592 -0
  40. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000010/ep_meta.json +608 -0
  41. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000012/ep_meta.json +693 -0
  42. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000013/ep_meta.json +623 -0
  43. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000016/ep_meta.json +623 -0
  44. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000017/ep_meta.json +595 -0
  45. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000019/ep_meta.json +664 -0
  46. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000020/ep_meta.json +602 -0
  47. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000021/ep_meta.json +643 -0
  48. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000022/ep_meta.json +605 -0
  49. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000023/ep_meta.json +523 -0
  50. pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000026/ep_meta.json +687 -0
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,390 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "8-11-2025",
3
+ "env": "ArrangeUtensilsByType",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "ArrangeUtensilsByType",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "ArrangeUtensilsByType",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": -2,
14
+ "style_ids": -2,
15
+ "obj_instance_split": "pretrain",
16
+ "translucent_robot": false,
17
+ "layout_and_style_ids": null,
18
+ "controller_configs": {
19
+ "type": "HYBRID_MOBILE_BASE",
20
+ "composite_controller_specific_configs": {
21
+ "left_offset": [
22
+ 0.0,
23
+ 0.0,
24
+ 0.0
25
+ ],
26
+ "right_offset": [
27
+ -0.15,
28
+ 0.0,
29
+ 0.35
30
+ ],
31
+ "left2arm_transform": [
32
+ [
33
+ 1,
34
+ 0,
35
+ 0,
36
+ 0
37
+ ],
38
+ [
39
+ 0,
40
+ 1,
41
+ 0,
42
+ 0
43
+ ],
44
+ [
45
+ 0,
46
+ 0,
47
+ 1,
48
+ 0
49
+ ],
50
+ [
51
+ 0,
52
+ 0,
53
+ 0,
54
+ 1
55
+ ]
56
+ ],
57
+ "right2arm_transform": [
58
+ [
59
+ 0,
60
+ 0.7071068,
61
+ 0.7071068,
62
+ 0
63
+ ],
64
+ [
65
+ 1,
66
+ 0,
67
+ 0,
68
+ 0
69
+ ],
70
+ [
71
+ 0,
72
+ 0.7071068,
73
+ -0.7071068,
74
+ 0
75
+ ],
76
+ [
77
+ 0,
78
+ 0,
79
+ 0,
80
+ 1
81
+ ]
82
+ ],
83
+ "left2finger_transform": [
84
+ [
85
+ 1,
86
+ 0,
87
+ 0,
88
+ 0
89
+ ],
90
+ [
91
+ 0,
92
+ 1,
93
+ 0,
94
+ 0
95
+ ],
96
+ [
97
+ 0,
98
+ 0,
99
+ 1,
100
+ 0
101
+ ],
102
+ [
103
+ 0,
104
+ 0,
105
+ 0,
106
+ 1
107
+ ]
108
+ ],
109
+ "right2finger_transform": [
110
+ [
111
+ 1,
112
+ 0,
113
+ 0,
114
+ 0
115
+ ],
116
+ [
117
+ 0,
118
+ 1,
119
+ 0,
120
+ 0
121
+ ],
122
+ [
123
+ 0,
124
+ 0,
125
+ 1,
126
+ 0
127
+ ],
128
+ [
129
+ 0,
130
+ 0,
131
+ 0,
132
+ 1
133
+ ]
134
+ ],
135
+ "body_part_ordering": [
136
+ "right",
137
+ "right_gripper",
138
+ "base",
139
+ "torso"
140
+ ]
141
+ },
142
+ "body_parts": {
143
+ "right": {
144
+ "type": "OSC_POSE",
145
+ "input_max": 1,
146
+ "input_min": -1,
147
+ "output_max": [
148
+ 0.05,
149
+ 0.05,
150
+ 0.05,
151
+ 0.5,
152
+ 0.5,
153
+ 0.5
154
+ ],
155
+ "output_min": [
156
+ -0.05,
157
+ -0.05,
158
+ -0.05,
159
+ -0.5,
160
+ -0.5,
161
+ -0.5
162
+ ],
163
+ "kp": 150,
164
+ "damping_ratio": 1,
165
+ "impedance_mode": "fixed",
166
+ "kp_limits": [
167
+ 0,
168
+ 300
169
+ ],
170
+ "damping_ratio_limits": [
171
+ 0,
172
+ 10
173
+ ],
174
+ "position_limits": null,
175
+ "orientation_limits": null,
176
+ "uncouple_pos_ori": true,
177
+ "input_type": "delta",
178
+ "input_ref_frame": "base",
179
+ "interpolation": null,
180
+ "ramp_ratio": 0.2,
181
+ "gripper": {
182
+ "type": "GRIP"
183
+ }
184
+ },
185
+ "torso": {
186
+ "type": "JOINT_POSITION",
187
+ "interpolation": "null",
188
+ "kp": 2000
189
+ },
190
+ "base": {
191
+ "type": "JOINT_VELOCITY",
192
+ "interpolation": "null"
193
+ }
194
+ }
195
+ }
196
+ }
197
+ },
198
+ "env_info": {
199
+ "env_name": "ArrangeUtensilsByType",
200
+ "robots": "PandaOmron",
201
+ "layout_ids": -2,
202
+ "style_ids": -2,
203
+ "obj_instance_split": "pretrain",
204
+ "translucent_robot": true,
205
+ "layout_and_style_ids": null,
206
+ "controller_configs": {
207
+ "type": "HYBRID_MOBILE_BASE",
208
+ "composite_controller_specific_configs": {
209
+ "left_offset": [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0
213
+ ],
214
+ "right_offset": [
215
+ -0.15,
216
+ 0.0,
217
+ 0.35
218
+ ],
219
+ "left2arm_transform": [
220
+ [
221
+ 1,
222
+ 0,
223
+ 0,
224
+ 0
225
+ ],
226
+ [
227
+ 0,
228
+ 1,
229
+ 0,
230
+ 0
231
+ ],
232
+ [
233
+ 0,
234
+ 0,
235
+ 1,
236
+ 0
237
+ ],
238
+ [
239
+ 0,
240
+ 0,
241
+ 0,
242
+ 1
243
+ ]
244
+ ],
245
+ "right2arm_transform": [
246
+ [
247
+ 0,
248
+ 0.7071068,
249
+ 0.7071068,
250
+ 0
251
+ ],
252
+ [
253
+ 1,
254
+ 0,
255
+ 0,
256
+ 0
257
+ ],
258
+ [
259
+ 0,
260
+ 0.7071068,
261
+ -0.7071068,
262
+ 0
263
+ ],
264
+ [
265
+ 0,
266
+ 0,
267
+ 0,
268
+ 1
269
+ ]
270
+ ],
271
+ "left2finger_transform": [
272
+ [
273
+ 1,
274
+ 0,
275
+ 0,
276
+ 0
277
+ ],
278
+ [
279
+ 0,
280
+ 1,
281
+ 0,
282
+ 0
283
+ ],
284
+ [
285
+ 0,
286
+ 0,
287
+ 1,
288
+ 0
289
+ ],
290
+ [
291
+ 0,
292
+ 0,
293
+ 0,
294
+ 1
295
+ ]
296
+ ],
297
+ "right2finger_transform": [
298
+ [
299
+ 1,
300
+ 0,
301
+ 0,
302
+ 0
303
+ ],
304
+ [
305
+ 0,
306
+ 1,
307
+ 0,
308
+ 0
309
+ ],
310
+ [
311
+ 0,
312
+ 0,
313
+ 1,
314
+ 0
315
+ ],
316
+ [
317
+ 0,
318
+ 0,
319
+ 0,
320
+ 1
321
+ ]
322
+ ],
323
+ "body_part_ordering": [
324
+ "right",
325
+ "right_gripper",
326
+ "base",
327
+ "torso"
328
+ ]
329
+ },
330
+ "body_parts": {
331
+ "right": {
332
+ "type": "OSC_POSE",
333
+ "input_max": 1,
334
+ "input_min": -1,
335
+ "output_max": [
336
+ 0.05,
337
+ 0.05,
338
+ 0.05,
339
+ 0.5,
340
+ 0.5,
341
+ 0.5
342
+ ],
343
+ "output_min": [
344
+ -0.05,
345
+ -0.05,
346
+ -0.05,
347
+ -0.5,
348
+ -0.5,
349
+ -0.5
350
+ ],
351
+ "kp": 150,
352
+ "damping_ratio": 1,
353
+ "impedance_mode": "fixed",
354
+ "kp_limits": [
355
+ 0,
356
+ 300
357
+ ],
358
+ "damping_ratio_limits": [
359
+ 0,
360
+ 10
361
+ ],
362
+ "position_limits": null,
363
+ "orientation_limits": null,
364
+ "uncouple_pos_ori": true,
365
+ "input_type": "delta",
366
+ "input_ref_frame": "base",
367
+ "interpolation": null,
368
+ "ramp_ratio": 0.2,
369
+ "gripper": {
370
+ "type": "GRIP"
371
+ }
372
+ },
373
+ "torso": {
374
+ "type": "JOINT_POSITION",
375
+ "interpolation": "null",
376
+ "kp": 2000
377
+ },
378
+ "base": {
379
+ "type": "JOINT_VELOCITY",
380
+ "interpolation": "null"
381
+ }
382
+ }
383
+ }
384
+ },
385
+ "mujoco_version": "3.3.1",
386
+ "robocasa_version": "0.5.1",
387
+ "robosuite_version": "1.5.2",
388
+ "time": "19:20:59",
389
+ "total": 259071
390
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000000/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 20,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.3555,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.3555,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.3555,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.3555,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_right_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_right_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "floor_1_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_1_backing_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "wallaccessory_2_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_1_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_3_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wallaccessory_4_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "window_group_room": {
238
+ "cls": "Window"
239
+ },
240
+ "stool_1_room": {
241
+ "cls": "Stool"
242
+ },
243
+ "stool_2_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_3_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_4_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "fridgefrenchdoor_main_group_1": {
253
+ "cls": "FridgeFrenchDoor"
254
+ },
255
+ "fridgefrenchdoor_housing_main_group_1": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "bottom_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "bottom_main_group_1_1": {
262
+ "cls": "Drawer"
263
+ },
264
+ "microwave_main_group_1": {
265
+ "cls": "Microwave"
266
+ },
267
+ "oven_cabinet_main_group_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "hingecabinet_4_main_group_1": {
271
+ "cls": "HingeCabinet"
272
+ },
273
+ "microwave_housing_main_group_1": {
274
+ "cls": "HousingCabinet"
275
+ },
276
+ "top_main_group_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "hingecabinet_1_main_group_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "hingecabinet_3_main_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "singlecabinet_2_main_group_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "cube_1_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "counter_1_main_group_1": {
292
+ "cls": "Counter"
293
+ },
294
+ "counter_2_main_group_1": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_corner_1_main_group_1": {
298
+ "cls": "Counter"
299
+ },
300
+ "stove_main_group_1": {
301
+ "cls": "Stove"
302
+ },
303
+ "stove_hood_main_group_1": {
304
+ "cls": "Hood"
305
+ },
306
+ "stack_03_main_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_03_main_group_1_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_03_main_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_03_main_group_1_3": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_02_main_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_02_main_group_1_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_02_main_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_01_main_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_01_main_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "papertowel_main_group_1": {
334
+ "cls": "Accessory"
335
+ },
336
+ "coffee_machine_main_group_1": {
337
+ "cls": "CoffeeMachine"
338
+ },
339
+ "toaster_oven_main_group_1": {
340
+ "cls": "ToasterOven"
341
+ },
342
+ "opencabinet_1_right_group_1": {
343
+ "cls": "OpenCabinet"
344
+ },
345
+ "cube_3_right_group_1": {
346
+ "cls": "Box"
347
+ },
348
+ "cube_4_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "hingecabinet_6_right_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "hingecabinet_5_right_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "sink_right_group_1": {
358
+ "cls": "Sink"
359
+ },
360
+ "counter_4_right_group_1": {
361
+ "cls": "Counter"
362
+ },
363
+ "stack_05_right_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_05_right_group_1_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "stack_05_right_group_1_2": {
370
+ "cls": "PanelCabinet"
371
+ },
372
+ "stack_04_right_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_04_right_group_1_1": {
376
+ "cls": "SingleCabinet"
377
+ },
378
+ "stack_06_right_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_06_right_group_1_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "cube_2_right_group_1": {
385
+ "cls": "Box"
386
+ },
387
+ "cube_1_right_group_1": {
388
+ "cls": "Box"
389
+ },
390
+ "toaster_right_group_1": {
391
+ "cls": "Toaster"
392
+ },
393
+ "island_island_group_1": {
394
+ "cls": "Counter"
395
+ },
396
+ "stack_07_island_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_07_island_group_1_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "stack_07_island_group_1_2": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_08_island_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_08_island_group_1_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_08_island_group_1_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "cube_3_island_group_1": {
415
+ "cls": "Box"
416
+ },
417
+ "cube_4_island_group_1": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_06_island_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_06_island_group_1_1": {
424
+ "cls": "SingleCabinet"
425
+ },
426
+ "stack_06_island_group_1_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "cube_1_island_group_1": {
430
+ "cls": "Box"
431
+ },
432
+ "cube_2_island_group_1": {
433
+ "cls": "Box"
434
+ },
435
+ "dishwasher_1_island_group_1": {
436
+ "cls": "Dishwasher"
437
+ },
438
+ "plant_island_group_1": {
439
+ "cls": "Accessory"
440
+ }
441
+ },
442
+ "gen_textures": {},
443
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
444
+ "fixture_refs": {
445
+ "cabinet": "hingecabinet_5_right_group_1",
446
+ "drawer": "stack_07_island_group_1_2",
447
+ "counter": "counter_1_main_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
+ 4.406897661655811,
532
+ -0.9691205511949607,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 1.5706379572530664
539
+ ]
540
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000001/ep_meta.json ADDED
@@ -0,0 +1,600 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.0418,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.0418,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_19/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.0418,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_0/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.0418,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_2_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_right_2_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_main_3_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_main_3_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "floor_1_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_1_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "wallaccessory_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wallaccessory.002_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory.003_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "stool_3_room": {
259
+ "cls": "Stool"
260
+ },
261
+ "stool_2_room": {
262
+ "cls": "Stool"
263
+ },
264
+ "stool_1_room": {
265
+ "cls": "Stool"
266
+ },
267
+ "counter_1_main_group_1": {
268
+ "cls": "Counter"
269
+ },
270
+ "counter_corner_1_main_group_1": {
271
+ "cls": "Counter"
272
+ },
273
+ "hingecabinet_1_main_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "box_1_main_group_1": {
277
+ "cls": "Box"
278
+ },
279
+ "hingecabinet_2_main_group_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "stack_1_main_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_1_main_group_1_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_1_main_group_1_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_1_main_group_1_3": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_2_main_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_2_main_group_1_1": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "fridgefrenchdoor_main_group_1": {
301
+ "cls": "FridgeFrenchDoor"
302
+ },
303
+ "fridgefrenchdoor_housing_main_group_1": {
304
+ "cls": "HousingCabinet"
305
+ },
306
+ "knifeblock_main_group_1": {
307
+ "cls": "Accessory"
308
+ },
309
+ "paper_towel_main_group_1": {
310
+ "cls": "Accessory"
311
+ },
312
+ "toaster_main_group_1": {
313
+ "cls": "Toaster"
314
+ },
315
+ "sink_right_group_1": {
316
+ "cls": "Sink"
317
+ },
318
+ "counter_1_right_group_1": {
319
+ "cls": "Counter"
320
+ },
321
+ "counter_2_right_group_1": {
322
+ "cls": "Counter"
323
+ },
324
+ "singlecabinet_1_right_group_1": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "cube_2_right_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_3_right_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_3_right_group_1_1": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_3_right_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_3_right_group_1_3": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_right_group_1_base": {
343
+ "cls": "Box"
344
+ },
345
+ "stack_1_right_group_1_1": {
346
+ "cls": "SingleCabinet"
347
+ },
348
+ "cube_1_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_2_right_group_1_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_2_right_group_1_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "stack_2_right_group_1_2": {
358
+ "cls": "PanelCabinet"
359
+ },
360
+ "dishwasher_1_right_group_1": {
361
+ "cls": "Dishwasher"
362
+ },
363
+ "cube_3_right_group_1": {
364
+ "cls": "Box"
365
+ },
366
+ "stovetop_left_group_1": {
367
+ "cls": "Stovetop"
368
+ },
369
+ "counter_1_left_group_1": {
370
+ "cls": "Counter"
371
+ },
372
+ "hingecabinet_3_left_group_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "hingecabinet_2_left_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "hingecabinet_1_left_group_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "bottom_left_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "bottom_left_group_1_1": {
385
+ "cls": "Drawer"
386
+ },
387
+ "oven_left_group_1": {
388
+ "cls": "Oven"
389
+ },
390
+ "oven_housing_left_group_1": {
391
+ "cls": "HousingCabinet"
392
+ },
393
+ "microwave_left_group_1": {
394
+ "cls": "Microwave"
395
+ },
396
+ "microwave_housing_left_group_1": {
397
+ "cls": "HousingCabinet"
398
+ },
399
+ "top_left_group_1": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_1_left_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_1_left_group_1_1": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "stack_1_left_group_1_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_2_left_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_2_left_group_1_1": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "stack_2_left_group_1_2": {
418
+ "cls": "PanelCabinet"
419
+ },
420
+ "stack_3_left_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_3_left_group_1_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "stack_3_left_group_1_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "coffeemachine_left_group_1": {
430
+ "cls": "CoffeeMachine"
431
+ },
432
+ "toaster_oven_left_group_1": {
433
+ "cls": "ToasterOven"
434
+ },
435
+ "counter_1_island_group": {
436
+ "cls": "Counter"
437
+ },
438
+ "stack_2_island_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_2_island_group_1": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_2_island_group_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_1_island_group_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_1_island_group_1": {
451
+ "cls": "SingleCabinet"
452
+ },
453
+ "stack_3_island_group_base": {
454
+ "cls": "Box"
455
+ },
456
+ "stack_3_island_group_1": {
457
+ "cls": "SingleCabinet"
458
+ },
459
+ "plant_island_group": {
460
+ "cls": "Accessory"
461
+ },
462
+ "stack_2_dining_area_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_2_dining_area_group_1": {
466
+ "cls": "HingeCabinet"
467
+ },
468
+ "stack_2_dining_area_group_2": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_4_dining_area_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_4_dining_area_group_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "stack_1_dining_area_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_1_dining_area_group_1": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "stack_3_dining_area_group_base": {
484
+ "cls": "Box"
485
+ },
486
+ "stack_3_dining_area_group_1": {
487
+ "cls": "HingeCabinet"
488
+ },
489
+ "stack_3_dining_area_group_2": {
490
+ "cls": "Drawer"
491
+ },
492
+ "stool_3_stool_group_1": {
493
+ "cls": "Stool"
494
+ },
495
+ "stool_2_stool_group_1": {
496
+ "cls": "Stool"
497
+ },
498
+ "stool_1_stool_group_1": {
499
+ "cls": "Stool"
500
+ }
501
+ },
502
+ "gen_textures": {},
503
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
504
+ "fixture_refs": {
505
+ "cabinet": "hingecabinet_1_main_group_1",
506
+ "drawer": "stack_3_right_group_1_3",
507
+ "counter": "counter_1_main_group_1"
508
+ },
509
+ "cam_configs": {
510
+ "robot0_agentview_center": {
511
+ "pos": [
512
+ -0.6,
513
+ 0.0,
514
+ 1.15
515
+ ],
516
+ "quat": [
517
+ 0.636945903301239,
518
+ 0.3325185477733612,
519
+ -0.3199238181114197,
520
+ -0.6175596117973328
521
+ ],
522
+ "parent_body": "mobilebase0_support"
523
+ },
524
+ "robot0_agentview_left": {
525
+ "pos": [
526
+ -0.5,
527
+ 0.35,
528
+ 1.05
529
+ ],
530
+ "quat": [
531
+ 0.55623853,
532
+ 0.29935253,
533
+ -0.37678665,
534
+ -0.6775092
535
+ ],
536
+ "camera_attribs": {
537
+ "fovy": "60"
538
+ },
539
+ "parent_body": "mobilebase0_support"
540
+ },
541
+ "robot0_agentview_right": {
542
+ "pos": [
543
+ -0.5,
544
+ -0.35,
545
+ 1.05
546
+ ],
547
+ "quat": [
548
+ 0.6775091886520386,
549
+ 0.3767866790294647,
550
+ -0.2993525564670563,
551
+ -0.55623859167099
552
+ ],
553
+ "camera_attribs": {
554
+ "fovy": "60"
555
+ },
556
+ "parent_body": "mobilebase0_support"
557
+ },
558
+ "robot0_frontview": {
559
+ "pos": [
560
+ -0.5,
561
+ 0,
562
+ 0.95
563
+ ],
564
+ "quat": [
565
+ 0.6088936924934387,
566
+ 0.3814677894115448,
567
+ -0.3673907518386841,
568
+ -0.5905545353889465
569
+ ],
570
+ "camera_attribs": {
571
+ "fovy": "60"
572
+ },
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_eye_in_hand": {
576
+ "pos": [
577
+ 0.05,
578
+ 0,
579
+ 0
580
+ ],
581
+ "quat": [
582
+ 0,
583
+ 0.707107,
584
+ 0.707107,
585
+ 0
586
+ ],
587
+ "parent_body": "robot0_right_hand"
588
+ }
589
+ },
590
+ "init_robot_base_pos": [
591
+ 4.163269034579123,
592
+ -0.8243174773798886,
593
+ 0.0
594
+ ],
595
+ "init_robot_base_ori": [
596
+ 0.0,
597
+ 0.0,
598
+ 1.5707961519493434
599
+ ]
600
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000008/ep_meta.json ADDED
@@ -0,0 +1,597 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 15,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.579347,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.579347,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.579347,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_18/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.579347,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "floor_1_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_1_backing_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "wallaccessory_1_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_2_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_3_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wallaccessory_4_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "lightswitch_02_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "lightswitch_03_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "stool_3_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_2_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_1_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stack_13_island_group_2_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_13_island_group_2_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_04_island_group_2_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_04_island_group_2_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_12_island_group_2_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_12_island_group_2_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "singlecabinet_2_main_group_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "hingecabinet_5_main_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "hingecabinet_4_main_group_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "opencabinet_2_main_group_1": {
280
+ "cls": "OpenCabinet"
281
+ },
282
+ "opencabinet_3_main_group_1": {
283
+ "cls": "OpenCabinet"
284
+ },
285
+ "counter_2_main_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "counter_corner_1_main_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "counter_3_main_group_1": {
292
+ "cls": "Counter"
293
+ },
294
+ "stove_main_group_1": {
295
+ "cls": "Stove"
296
+ },
297
+ "stove_hood_main_group_1": {
298
+ "cls": "Hood"
299
+ },
300
+ "cube_4_main_group_1": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_11_main_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_11_main_group_1_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "stack_03_main_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_03_main_group_1_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "stack_03_main_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_02_main_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_02_main_group_1_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "stack_04_main_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_04_main_group_1_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_04_main_group_1_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_04_main_group_1_3": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_08_main_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_08_main_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_08_main_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_06_main_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_06_main_group_1_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "stack_07_main_group_1_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_07_main_group_1_1": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_07_main_group_1_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_07_main_group_1_3": {
361
+ "cls": "Drawer"
362
+ },
363
+ "cube_8_main_group_1": {
364
+ "cls": "Box"
365
+ },
366
+ "coffee_machine_main_group_1": {
367
+ "cls": "CoffeeMachine"
368
+ },
369
+ "papertowel_main_group_1": {
370
+ "cls": "Accessory"
371
+ },
372
+ "plant_main_group_1": {
373
+ "cls": "Accessory"
374
+ },
375
+ "toaster_oven_main_group_1": {
376
+ "cls": "ToasterOven"
377
+ },
378
+ "singlecabinet_1_right_group_1": {
379
+ "cls": "SingleCabinet"
380
+ },
381
+ "hingecabinet_1_right_group_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "hingecabinet_9_right_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "counter_1_right_group_1": {
388
+ "cls": "Counter"
389
+ },
390
+ "counter_8_right_group_1": {
391
+ "cls": "Counter"
392
+ },
393
+ "stack_6_right_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_6_right_group_1_1": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_6_right_group_1_2": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_4_right_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_4_right_group_1_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "cube_11_right_group_1": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_7_right_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_7_right_group_1_1": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "stack_7_right_group_1_2": {
418
+ "cls": "Drawer"
419
+ },
420
+ "cube_12_right_group_1": {
421
+ "cls": "Box"
422
+ },
423
+ "fridgefrenchdoor_right_group_1": {
424
+ "cls": "FridgeFrenchDoor"
425
+ },
426
+ "fridgefrenchdoor_housing_right_group_1": {
427
+ "cls": "HousingCabinet"
428
+ },
429
+ "bottom_right_group_1_base": {
430
+ "cls": "Box"
431
+ },
432
+ "bottom_right_group_1_1": {
433
+ "cls": "Drawer"
434
+ },
435
+ "oven_cabinet_right_group_1": {
436
+ "cls": "HingeCabinet"
437
+ },
438
+ "microwave_right_group_1": {
439
+ "cls": "Microwave"
440
+ },
441
+ "microwave_housing_right_group_1": {
442
+ "cls": "HousingCabinet"
443
+ },
444
+ "top_right_group_1": {
445
+ "cls": "HingeCabinet"
446
+ },
447
+ "hingecabinet_2_right_group_1": {
448
+ "cls": "HingeCabinet"
449
+ },
450
+ "toaster_right_group_1": {
451
+ "cls": "Toaster"
452
+ },
453
+ "sink_island_group_1": {
454
+ "cls": "Sink"
455
+ },
456
+ "island_island_group_1": {
457
+ "cls": "Counter"
458
+ },
459
+ "stack_11_island_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_11_island_group_1_1": {
463
+ "cls": "HingeCabinet"
464
+ },
465
+ "stack_11_island_group_1_2": {
466
+ "cls": "PanelCabinet"
467
+ },
468
+ "stack_09_island_group_1_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_09_island_group_1_1": {
472
+ "cls": "Drawer"
473
+ },
474
+ "stack_09_island_group_1_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_09_island_group_1_3": {
478
+ "cls": "Drawer"
479
+ },
480
+ "stack_10_island_group_1_base": {
481
+ "cls": "Box"
482
+ },
483
+ "stack_10_island_group_1_1": {
484
+ "cls": "SingleCabinet"
485
+ },
486
+ "stack_10_island_group_1_2": {
487
+ "cls": "Drawer"
488
+ },
489
+ "dishwasher_1_island_group_1": {
490
+ "cls": "Dishwasher"
491
+ },
492
+ "cube_1_island_group_1": {
493
+ "cls": "Box"
494
+ },
495
+ "cube_2_island_group_1": {
496
+ "cls": "Box"
497
+ }
498
+ },
499
+ "gen_textures": {},
500
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
501
+ "fixture_refs": {
502
+ "cabinet": "hingecabinet_1_right_group_1",
503
+ "drawer": "stack_03_main_group_1_2",
504
+ "counter": "counter_2_main_group_1"
505
+ },
506
+ "cam_configs": {
507
+ "robot0_agentview_center": {
508
+ "pos": [
509
+ -0.6,
510
+ 0.0,
511
+ 1.15
512
+ ],
513
+ "quat": [
514
+ 0.636945903301239,
515
+ 0.3325185477733612,
516
+ -0.3199238181114197,
517
+ -0.6175596117973328
518
+ ],
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_left": {
522
+ "pos": [
523
+ -0.5,
524
+ 0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.55623853,
529
+ 0.29935253,
530
+ -0.37678665,
531
+ -0.6775092
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_agentview_right": {
539
+ "pos": [
540
+ -0.5,
541
+ -0.35,
542
+ 1.05
543
+ ],
544
+ "quat": [
545
+ 0.6775091886520386,
546
+ 0.3767866790294647,
547
+ -0.2993525564670563,
548
+ -0.55623859167099
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_frontview": {
556
+ "pos": [
557
+ -0.5,
558
+ 0,
559
+ 0.95
560
+ ],
561
+ "quat": [
562
+ 0.6088936924934387,
563
+ 0.3814677894115448,
564
+ -0.3673907518386841,
565
+ -0.5905545353889465
566
+ ],
567
+ "camera_attribs": {
568
+ "fovy": "60"
569
+ },
570
+ "parent_body": "mobilebase0_support"
571
+ },
572
+ "robot0_eye_in_hand": {
573
+ "pos": [
574
+ 0.05,
575
+ 0,
576
+ 0
577
+ ],
578
+ "quat": [
579
+ 0,
580
+ 0.707107,
581
+ 0.707107,
582
+ 0
583
+ ],
584
+ "parent_body": "robot0_right_hand"
585
+ }
586
+ },
587
+ "init_robot_base_pos": [
588
+ 4.722627487141555,
589
+ -0.8143863924419313,
590
+ 0.0
591
+ ],
592
+ "init_robot_base_ori": [
593
+ 0.0,
594
+ 0.0,
595
+ 1.57064844767067
596
+ ]
597
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000011/ep_meta.json ADDED
@@ -0,0 +1,618 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 17,
3
+ "style_id": 52,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.8334433326264594,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ -1.2667783336867702,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.8334433326264594,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ -1.2667783336867702,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_10/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.8334433326264594,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ -1.2667783336867702,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_15/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.8334433326264594,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -1.2667783336867702,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "window_group_room": {
226
+ "cls": "Window"
227
+ },
228
+ "floor_1_room": {
229
+ "cls": "Floor"
230
+ },
231
+ "floor_1_backing_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "wall_accessory_1_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "wall_accessory_2_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "wall_accessory_3_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "wall_accessory_4_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "light_switch_1_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_5_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_6_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "stool_1_room": {
256
+ "cls": "Stool"
257
+ },
258
+ "stool_2_room": {
259
+ "cls": "Stool"
260
+ },
261
+ "stool_3_room": {
262
+ "cls": "Stool"
263
+ },
264
+ "counter_corner_1_main_group_1": {
265
+ "cls": "Counter"
266
+ },
267
+ "stovetop_main_group_1": {
268
+ "cls": "Stovetop"
269
+ },
270
+ "counter_1_main_group_1": {
271
+ "cls": "Counter"
272
+ },
273
+ "counter_corner_2_main_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "box_1_main_group_1": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_1_main_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_1_main_group_1_1": {
283
+ "cls": "SingleCabinet"
284
+ },
285
+ "stack_2_main_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_2_main_group_1_1": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_2_main_group_1_2": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_2_main_group_1_3": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_3_main_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_3_main_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_4_main_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_4_main_group_1_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_5_main_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_5_main_group_1_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "stack_6_main_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_6_main_group_1_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_6_main_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_6_main_group_1_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_7_main_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_7_main_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "box_2_main_group_1": {
334
+ "cls": "Box"
335
+ },
336
+ "hood_main_group_1": {
337
+ "cls": "Hood"
338
+ },
339
+ "cab_corner_main_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "cab_1_main_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "cab_2_main_group_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cab_3_main_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "cab_4_main_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "cab_5_main_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "cab_6_main_group_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "cab_corner_2_main_group_1": {
361
+ "cls": "Box"
362
+ },
363
+ "coffee_machine_main_group_1": {
364
+ "cls": "CoffeeMachine"
365
+ },
366
+ "toaster_main_group_1": {
367
+ "cls": "Toaster"
368
+ },
369
+ "paper_towel_main_group_1": {
370
+ "cls": "Accessory"
371
+ },
372
+ "knife_block_main_group_1": {
373
+ "cls": "Accessory"
374
+ },
375
+ "counter_1_left_group_1": {
376
+ "cls": "Counter"
377
+ },
378
+ "stack_1_left_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_1_left_group_1_1": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_1_left_group_1_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_1_left_group_1_3": {
388
+ "cls": "Drawer"
389
+ },
390
+ "box_left_group_1": {
391
+ "cls": "Box"
392
+ },
393
+ "bottom_left_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "bottom_left_group_1_1": {
397
+ "cls": "Drawer"
398
+ },
399
+ "oven_left_group_1": {
400
+ "cls": "Oven"
401
+ },
402
+ "oven_housing_left_group_1": {
403
+ "cls": "HousingCabinet"
404
+ },
405
+ "microwave_left_group_1": {
406
+ "cls": "Microwave"
407
+ },
408
+ "microwave_housing_left_group_1": {
409
+ "cls": "HousingCabinet"
410
+ },
411
+ "top_left_group_1": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "fridge_1_left_group_1": {
415
+ "cls": "FridgeBottomFreezer"
416
+ },
417
+ "fridge_1_housing_left_group_1": {
418
+ "cls": "HousingCabinet"
419
+ },
420
+ "fridge_cabinet_left_group_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "cab_1_left_group_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "toaster_oven_left_group_1": {
427
+ "cls": "ToasterOven"
428
+ },
429
+ "box_right_group_1": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_1_right_group_1_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_1_right_group_1_1": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_1_right_group_1_2": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_1_right_group_1_3": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_2_right_group_1_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_2_right_group_1_1": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_2_right_group_1_2": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_2_right_group_1_3": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_3_right_group_1_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_3_right_group_1_1": {
460
+ "cls": "HingeCabinet"
461
+ },
462
+ "dishwasher_1_right_group_1": {
463
+ "cls": "Dishwasher"
464
+ },
465
+ "stack_4_right_group_1_base": {
466
+ "cls": "Box"
467
+ },
468
+ "stack_4_right_group_1_1": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_4_right_group_1_2": {
472
+ "cls": "Drawer"
473
+ },
474
+ "stack_4_right_group_1_3": {
475
+ "cls": "Drawer"
476
+ },
477
+ "sink_1_right_group_1": {
478
+ "cls": "Sink"
479
+ },
480
+ "counter_1_right_group_1": {
481
+ "cls": "Counter"
482
+ },
483
+ "cab_1_right_group_1": {
484
+ "cls": "OpenCabinet"
485
+ },
486
+ "cab_2_right_group_1": {
487
+ "cls": "OpenCabinet"
488
+ },
489
+ "island_island_group_1": {
490
+ "cls": "Counter"
491
+ },
492
+ "stack_1_island_group_1_base": {
493
+ "cls": "Box"
494
+ },
495
+ "stack_1_island_group_1_1": {
496
+ "cls": "Drawer"
497
+ },
498
+ "stack_1_island_group_1_2": {
499
+ "cls": "Drawer"
500
+ },
501
+ "stack_2_island_group_1_base": {
502
+ "cls": "Box"
503
+ },
504
+ "stack_2_island_group_1_1": {
505
+ "cls": "Drawer"
506
+ },
507
+ "stack_2_island_group_1_2": {
508
+ "cls": "Drawer"
509
+ },
510
+ "stack_3_island_group_1_base": {
511
+ "cls": "Box"
512
+ },
513
+ "stack_3_island_group_1_1": {
514
+ "cls": "Drawer"
515
+ },
516
+ "stack_3_island_group_1_2": {
517
+ "cls": "Drawer"
518
+ }
519
+ },
520
+ "gen_textures": {},
521
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
522
+ "fixture_refs": {
523
+ "cabinet": "cab_3_main_group_1",
524
+ "drawer": "stack_2_right_group_1_3",
525
+ "counter": "counter_1_main_group_1"
526
+ },
527
+ "cam_configs": {
528
+ "robot0_agentview_center": {
529
+ "pos": [
530
+ -0.6,
531
+ 0.0,
532
+ 1.15
533
+ ],
534
+ "quat": [
535
+ 0.636945903301239,
536
+ 0.3325185477733612,
537
+ -0.3199238181114197,
538
+ -0.6175596117973328
539
+ ],
540
+ "parent_body": "mobilebase0_support"
541
+ },
542
+ "robot0_agentview_left": {
543
+ "pos": [
544
+ -0.5,
545
+ 0.35,
546
+ 1.05
547
+ ],
548
+ "quat": [
549
+ 0.55623853,
550
+ 0.29935253,
551
+ -0.37678665,
552
+ -0.6775092
553
+ ],
554
+ "camera_attribs": {
555
+ "fovy": "60"
556
+ },
557
+ "parent_body": "mobilebase0_support"
558
+ },
559
+ "robot0_agentview_right": {
560
+ "pos": [
561
+ -0.5,
562
+ -0.35,
563
+ 1.05
564
+ ],
565
+ "quat": [
566
+ 0.6775091886520386,
567
+ 0.3767866790294647,
568
+ -0.2993525564670563,
569
+ -0.55623859167099
570
+ ],
571
+ "camera_attribs": {
572
+ "fovy": "60"
573
+ },
574
+ "parent_body": "mobilebase0_support"
575
+ },
576
+ "robot0_frontview": {
577
+ "pos": [
578
+ -0.5,
579
+ 0,
580
+ 0.95
581
+ ],
582
+ "quat": [
583
+ 0.6088936924934387,
584
+ 0.3814677894115448,
585
+ -0.3673907518386841,
586
+ -0.5905545353889465
587
+ ],
588
+ "camera_attribs": {
589
+ "fovy": "60"
590
+ },
591
+ "parent_body": "mobilebase0_support"
592
+ },
593
+ "robot0_eye_in_hand": {
594
+ "pos": [
595
+ 0.05,
596
+ 0,
597
+ 0
598
+ ],
599
+ "quat": [
600
+ 0,
601
+ 0.707107,
602
+ 0.707107,
603
+ 0
604
+ ],
605
+ "parent_body": "robot0_right_hand"
606
+ }
607
+ },
608
+ "init_robot_base_pos": [
609
+ 1.512745477734689,
610
+ -0.8024813764232077,
611
+ 0.0
612
+ ],
613
+ "init_robot_base_ori": [
614
+ 0.0,
615
+ 0.0,
616
+ 1.5707963267948966
617
+ ]
618
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 30,
3
+ "style_id": 45,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_left_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.4,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_left_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.4,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_left_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.4,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_left_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.4,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_left_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "floor_1_room": {
226
+ "cls": "Floor"
227
+ },
228
+ "floor_1_backing_room": {
229
+ "cls": "Floor"
230
+ },
231
+ "wall_accessory_1_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wall_accessory_2_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "light_switch_1_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "ligh_switch_2_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "light_switch_3_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "light_switch_4_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_3_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_4_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wall_accessory_5_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "window_group_1_room": {
259
+ "cls": "Window"
260
+ },
261
+ "window_group_2_room": {
262
+ "cls": "Window"
263
+ },
264
+ "window_group_3_room": {
265
+ "cls": "Window"
266
+ },
267
+ "stool_1_room": {
268
+ "cls": "Stool"
269
+ },
270
+ "stool_2_room": {
271
+ "cls": "Stool"
272
+ },
273
+ "counter_1_left_group": {
274
+ "cls": "Counter"
275
+ },
276
+ "stove_left_group": {
277
+ "cls": "Stove"
278
+ },
279
+ "counter_2_left_group": {
280
+ "cls": "Counter"
281
+ },
282
+ "stack_1_left_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_1_left_group_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_1_left_group_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_1_left_group_3": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_2_left_group_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_2_left_group_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_2_left_group_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_2_left_group_3": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_left_group_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_3_left_group_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_3_left_group_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_3_left_group_3": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_4_left_group_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_4_left_group_1": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_4_left_group_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_4_left_group_3": {
328
+ "cls": "Drawer"
329
+ },
330
+ "fridge_left_group": {
331
+ "cls": "FridgeFrenchDoor"
332
+ },
333
+ "fridge_housing_left_group": {
334
+ "cls": "HousingCabinet"
335
+ },
336
+ "cab_1_left_group": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "cab_2_left_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "microwave_left_group": {
343
+ "cls": "Microwave"
344
+ },
345
+ "cab_3_left_group": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cab_4_left_group": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "cab_5_left_group": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "cab_6_left_group": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "toaster_oven_left_group": {
358
+ "cls": "ToasterOven"
359
+ },
360
+ "coffee_machine_left_group": {
361
+ "cls": "CoffeeMachine"
362
+ },
363
+ "paper_towel_left_group": {
364
+ "cls": "Accessory"
365
+ },
366
+ "sink_right_group": {
367
+ "cls": "Sink"
368
+ },
369
+ "counter_1_right_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "stack_1_right_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_1_right_group_1": {
376
+ "cls": "SingleCabinet"
377
+ },
378
+ "dishwasher_right_group": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "stack_2_right_group_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_2_right_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "stack_3_right_group_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_3_right_group_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_3_right_group_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_4_right_group_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_4_right_group_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "box_right_group": {
403
+ "cls": "Box"
404
+ },
405
+ "cab_1_right_group": {
406
+ "cls": "OpenCabinet"
407
+ },
408
+ "cab_2_right_group": {
409
+ "cls": "OpenCabinet"
410
+ },
411
+ "toaster_right_group": {
412
+ "cls": "Toaster"
413
+ },
414
+ "dining_front_group": {
415
+ "cls": "Counter"
416
+ },
417
+ "box_front_group": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_1_front_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_1_front_group_1": {
424
+ "cls": "SingleCabinet"
425
+ },
426
+ "stack_2_front_group_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_2_front_group_1": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_2_front_group_2": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_2_front_group_3": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_2_front_group_4": {
439
+ "cls": "Drawer"
440
+ }
441
+ },
442
+ "gen_textures": {},
443
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
444
+ "fixture_refs": {
445
+ "cabinet": "cab_4_left_group",
446
+ "drawer": "stack_2_front_group_4",
447
+ "counter": "counter_2_left_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
+ 0.8334240337984444,
532
+ -4.037025800290236,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 3.1415926193612504
539
+ ]
540
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,459 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 40,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.5896,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.5896,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.5896,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.5896,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "floor_1_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "floor_1_backing_room": {
235
+ "cls": "Floor"
236
+ },
237
+ "floor_2_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_2_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "lightswitch_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "wallaccessory.002_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wallaccessory.001_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wallaccessory.003_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "window_group_room": {
256
+ "cls": "Window"
257
+ },
258
+ "counter_corner_1_main_group_1": {
259
+ "cls": "Counter"
260
+ },
261
+ "counter_1_main_group_1": {
262
+ "cls": "Counter"
263
+ },
264
+ "hingecabinet_1_main_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "singlecabinet_1_main_group_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "box_1_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": "Drawer"
281
+ },
282
+ "stack_2_main_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_2_main_group_1_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "cube_2_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "coffeemachine_main_group_1": {
292
+ "cls": "CoffeeMachine"
293
+ },
294
+ "papertowel_main_group_1": {
295
+ "cls": "Accessory"
296
+ },
297
+ "sink_right_group_1": {
298
+ "cls": "Sink"
299
+ },
300
+ "counter_1_right_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "stove_right_group_1": {
304
+ "cls": "Stove"
305
+ },
306
+ "microwave_right_group_1": {
307
+ "cls": "Microwave"
308
+ },
309
+ "micro_cab_right_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "singlecabinet_1_right_group_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "singlecabinet_2_right_group_1": {
316
+ "cls": "SingleCabinet"
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": "SingleCabinet"
326
+ },
327
+ "stack_2_right_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_2_right_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "stack_2_right_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_3_right_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_3_right_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "dishwasher_1_right_group_1": {
343
+ "cls": "Dishwasher"
344
+ },
345
+ "box_2_right_group_1": {
346
+ "cls": "Box"
347
+ },
348
+ "toaster_right_group_1": {
349
+ "cls": "Toaster"
350
+ },
351
+ "fridgefrenchdoor_right_group_1": {
352
+ "cls": "FridgeFrenchDoor"
353
+ },
354
+ "fridgefrenchdoor_housing_right_group_1": {
355
+ "cls": "HousingCabinet"
356
+ },
357
+ "hingecabinet_1_right_group_1": {
358
+ "cls": "HingeCabinet"
359
+ }
360
+ },
361
+ "gen_textures": {},
362
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
363
+ "fixture_refs": {
364
+ "cabinet": "singlecabinet_1_right_group_1",
365
+ "drawer": "stack_2_right_group_1_2",
366
+ "counter": "counter_1_main_group_1"
367
+ },
368
+ "cam_configs": {
369
+ "robot0_agentview_center": {
370
+ "pos": [
371
+ -0.6,
372
+ 0.0,
373
+ 1.15
374
+ ],
375
+ "quat": [
376
+ 0.636945903301239,
377
+ 0.3325185477733612,
378
+ -0.3199238181114197,
379
+ -0.6175596117973328
380
+ ],
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_agentview_left": {
384
+ "pos": [
385
+ -0.5,
386
+ 0.35,
387
+ 1.05
388
+ ],
389
+ "quat": [
390
+ 0.55623853,
391
+ 0.29935253,
392
+ -0.37678665,
393
+ -0.6775092
394
+ ],
395
+ "camera_attribs": {
396
+ "fovy": "60"
397
+ },
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_agentview_right": {
401
+ "pos": [
402
+ -0.5,
403
+ -0.35,
404
+ 1.05
405
+ ],
406
+ "quat": [
407
+ 0.6775091886520386,
408
+ 0.3767866790294647,
409
+ -0.2993525564670563,
410
+ -0.55623859167099
411
+ ],
412
+ "camera_attribs": {
413
+ "fovy": "60"
414
+ },
415
+ "parent_body": "mobilebase0_support"
416
+ },
417
+ "robot0_frontview": {
418
+ "pos": [
419
+ -0.5,
420
+ 0,
421
+ 0.95
422
+ ],
423
+ "quat": [
424
+ 0.6088936924934387,
425
+ 0.3814677894115448,
426
+ -0.3673907518386841,
427
+ -0.5905545353889465
428
+ ],
429
+ "camera_attribs": {
430
+ "fovy": "60"
431
+ },
432
+ "parent_body": "mobilebase0_support"
433
+ },
434
+ "robot0_eye_in_hand": {
435
+ "pos": [
436
+ 0.05,
437
+ 0,
438
+ 0
439
+ ],
440
+ "quat": [
441
+ 0,
442
+ 0.707107,
443
+ 0.707107,
444
+ 0
445
+ ],
446
+ "parent_body": "robot0_right_hand"
447
+ }
448
+ },
449
+ "init_robot_base_pos": [
450
+ 2.370963460543259,
451
+ -0.7899894036505857,
452
+ 0.0
453
+ ],
454
+ "init_robot_base_ori": [
455
+ 0.0,
456
+ 0.0,
457
+ 1.5707963267948966
458
+ ]
459
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,546 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 48,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "island_island_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 3.292982,
43
+ 1.464295
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 3.292982,
91
+ 1.464295
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "island_island_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_11/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 3.292982,
143
+ 1.464295
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "island_island_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 3.292982,
195
+ 1.464295
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "floor_1_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_1_backing_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "lightswitch_5_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_1_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_2_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "lightswitch_6_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "wallaccessory_3_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "lightswitch_1_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "lightswitch_2_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "lightswitch_3_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "stool_1_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stool_2_room": {
253
+ "cls": "Stool"
254
+ },
255
+ "stool_3_room": {
256
+ "cls": "Stool"
257
+ },
258
+ "stool_4_room": {
259
+ "cls": "Stool"
260
+ },
261
+ "fridgefrenchdoor_right_group_1": {
262
+ "cls": "FridgeFrenchDoor"
263
+ },
264
+ "fridgefrenchdoor_housing_right_group_1": {
265
+ "cls": "HousingCabinet"
266
+ },
267
+ "bottom_right_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "bottom_right_group_1_1": {
271
+ "cls": "Drawer"
272
+ },
273
+ "microwave_right_group_1": {
274
+ "cls": "Microwave"
275
+ },
276
+ "oven_cabinet_right_group_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "hingecabinet_5_right_group_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "microwave_housing_right_group_1": {
283
+ "cls": "HousingCabinet"
284
+ },
285
+ "top_right_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "hingecabinet_4_right_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "hingecabinet_2_right_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "hingecabinet_3_right_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "opencabinet_right_group_1": {
298
+ "cls": "OpenCabinet"
299
+ },
300
+ "sink_right_group_1": {
301
+ "cls": "Sink"
302
+ },
303
+ "counter_3_right_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "stack_04_right_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_04_right_group_1_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_04_right_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_06_right_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_06_right_group_1_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_06_right_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_06_right_group_1_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_03_right_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_03_right_group_1_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_03_right_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_05_right_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_05_right_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_05_right_group_1_2": {
343
+ "cls": "PanelCabinet"
344
+ },
345
+ "cube_2_right_group_1": {
346
+ "cls": "Box"
347
+ },
348
+ "cube_1_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "dishwasher_1_right_group_1": {
352
+ "cls": "Dishwasher"
353
+ },
354
+ "coffee_machine_right_group_1": {
355
+ "cls": "CoffeeMachine"
356
+ },
357
+ "toaster_right_group_1": {
358
+ "cls": "Toaster"
359
+ },
360
+ "counter_1_main_group_1": {
361
+ "cls": "Counter"
362
+ },
363
+ "counter_corner_1_main_group_1": {
364
+ "cls": "Counter"
365
+ },
366
+ "widestove_main_group_1": {
367
+ "cls": "Stove"
368
+ },
369
+ "stove_hood_main_group_1": {
370
+ "cls": "Hood"
371
+ },
372
+ "counter_2_main_group_1": {
373
+ "cls": "Counter"
374
+ },
375
+ "stack_02_main_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_02_main_group_1_1": {
379
+ "cls": "SingleCabinet"
380
+ },
381
+ "stack_01_main_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_01_main_group_1_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "hingecabinet_1_main_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "singlecabinet_1_main_group_1": {
391
+ "cls": "SingleCabinet"
392
+ },
393
+ "cube_4_main_group_1": {
394
+ "cls": "Box"
395
+ },
396
+ "papertowel_main_group_1": {
397
+ "cls": "Accessory"
398
+ },
399
+ "toaster_oven_main_group_1": {
400
+ "cls": "ToasterOven"
401
+ },
402
+ "island_island_group_1": {
403
+ "cls": "Counter"
404
+ },
405
+ "cube_1_island_group_1": {
406
+ "cls": "Box"
407
+ },
408
+ "cube_2_island_group_1": {
409
+ "cls": "Box"
410
+ },
411
+ "cube_3_island_group_1": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_09_island_group_1_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_09_island_group_1_1": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_09_island_group_1_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_09_island_group_1_3": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_08_island_group_1_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_08_island_group_1_1": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_08_island_group_1_2": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_08_island_group_1_3": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_07_island_group_1_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_07_island_group_1_1": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_07_island_group_1_2": {
445
+ "cls": "HingeCabinet"
446
+ }
447
+ },
448
+ "gen_textures": {},
449
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
450
+ "fixture_refs": {
451
+ "cabinet": "hingecabinet_4_right_group_1",
452
+ "drawer": "stack_09_island_group_1_3",
453
+ "counter": "island_island_group_1"
454
+ },
455
+ "cam_configs": {
456
+ "robot0_agentview_center": {
457
+ "pos": [
458
+ -0.6,
459
+ 0.0,
460
+ 1.15
461
+ ],
462
+ "quat": [
463
+ 0.636945903301239,
464
+ 0.3325185477733612,
465
+ -0.3199238181114197,
466
+ -0.6175596117973328
467
+ ],
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_left": {
471
+ "pos": [
472
+ -0.5,
473
+ 0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.55623853,
478
+ 0.29935253,
479
+ -0.37678665,
480
+ -0.6775092
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_agentview_right": {
488
+ "pos": [
489
+ -0.5,
490
+ -0.35,
491
+ 1.05
492
+ ],
493
+ "quat": [
494
+ 0.6775091886520386,
495
+ 0.3767866790294647,
496
+ -0.2993525564670563,
497
+ -0.55623859167099
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_frontview": {
505
+ "pos": [
506
+ -0.5,
507
+ 0,
508
+ 0.95
509
+ ],
510
+ "quat": [
511
+ 0.6088936924934387,
512
+ 0.3814677894115448,
513
+ -0.3673907518386841,
514
+ -0.5905545353889465
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_eye_in_hand": {
522
+ "pos": [
523
+ 0.05,
524
+ 0,
525
+ 0
526
+ ],
527
+ "quat": [
528
+ 0,
529
+ 0.707107,
530
+ 0.707107,
531
+ 0
532
+ ],
533
+ "parent_body": "robot0_right_hand"
534
+ }
535
+ },
536
+ "init_robot_base_pos": [
537
+ 2.3177176977406178,
538
+ -3.897209413970577,
539
+ 0.0
540
+ ],
541
+ "init_robot_base_ori": [
542
+ 0.0,
543
+ 0.0,
544
+ 3.1412869477002467
545
+ ]
546
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000027/ep_meta.json ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 32,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.1679100934549256,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ -0.5160399532725373,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.1679100934549256,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ -0.5160399532725373,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_15/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.1679100934549256,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ -0.5160399532725373,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.1679100934549256,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -0.5160399532725373,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "floor_1_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "floor_1_backing_room": {
235
+ "cls": "Floor"
236
+ },
237
+ "floor_2_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_2_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "window_group_room": {
244
+ "cls": "Window"
245
+ },
246
+ "stool_1_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_2_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stool_3_room": {
253
+ "cls": "Stool"
254
+ },
255
+ "sink_main_group_1": {
256
+ "cls": "Sink"
257
+ },
258
+ "counter_1_main_group_1": {
259
+ "cls": "Counter"
260
+ },
261
+ "counter_corner_1_main_group_1": {
262
+ "cls": "Counter"
263
+ },
264
+ "opencabinet_1_main_group_1": {
265
+ "cls": "OpenCabinet"
266
+ },
267
+ "stack_1_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_1_main_group_1_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "stack_2_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_2_main_group_1_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "stack_2_main_group_1_2": {
280
+ "cls": "PanelCabinet"
281
+ },
282
+ "cube_1_main_group_1": {
283
+ "cls": "Box"
284
+ },
285
+ "cube_2_main_group_1": {
286
+ "cls": "Box"
287
+ },
288
+ "cube_3_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "dishwasher_1_main_group_1": {
292
+ "cls": "Dishwasher"
293
+ },
294
+ "knifeblock_main_group_1": {
295
+ "cls": "Accessory"
296
+ },
297
+ "toaster_main_group_1": {
298
+ "cls": "Toaster"
299
+ },
300
+ "counter_1_right_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "widestove_right_group_1": {
304
+ "cls": "Stove"
305
+ },
306
+ "widestove_hood_right_group_1": {
307
+ "cls": "Hood"
308
+ },
309
+ "singlecabinet_1_right_group_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "singlecabinet_2_right_group_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "singlecabinet_3_right_group_1": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "bottom_right_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "bottom_right_group_1_1": {
322
+ "cls": "Drawer"
323
+ },
324
+ "microwave_right_group_1": {
325
+ "cls": "Microwave"
326
+ },
327
+ "counter_2_right_group_1": {
328
+ "cls": "Counter"
329
+ },
330
+ "fridgesidebyside_right_group_1": {
331
+ "cls": "FridgeSideBySide"
332
+ },
333
+ "fridgesidebyside_housing_right_group_1": {
334
+ "cls": "HousingCabinet"
335
+ },
336
+ "hingecabinet_1_right_group_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "oven_cabinet_right_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "microwave_housing_right_group_1": {
343
+ "cls": "HousingCabinet"
344
+ },
345
+ "top_right_group_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cube_1_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "cube_2_right_group_1": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_1_right_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_right_group_1_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "stack_1_right_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_2_right_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_2_right_group_1_1": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_2_right_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_right_group_1_3": {
373
+ "cls": "Drawer"
374
+ },
375
+ "coffee_machine_right_group_1": {
376
+ "cls": "CoffeeMachine"
377
+ },
378
+ "island_island_group_1": {
379
+ "cls": "Counter"
380
+ },
381
+ "cube_1_island_group_1": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_island_group_1_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_3_island_group_1_1": {
388
+ "cls": "PanelCabinet"
389
+ },
390
+ "stack_1_island_group_1_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_1_island_group_1_1": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_1_island_group_1_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_1_island_group_1_3": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_4_island_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_4_island_group_1_1": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "stack_2_island_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_2_island_group_1_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_island_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_2_island_group_1_3": {
418
+ "cls": "Drawer"
419
+ },
420
+ "papertowel_island_group_1": {
421
+ "cls": "Accessory"
422
+ },
423
+ "plant_island_group_1": {
424
+ "cls": "Accessory"
425
+ }
426
+ },
427
+ "gen_textures": {},
428
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
429
+ "fixture_refs": {
430
+ "cabinet": "singlecabinet_3_right_group_1",
431
+ "drawer": "stack_1_island_group_1_3",
432
+ "counter": "counter_1_main_group_1"
433
+ },
434
+ "cam_configs": {
435
+ "robot0_agentview_center": {
436
+ "pos": [
437
+ -0.6,
438
+ 0.0,
439
+ 1.15
440
+ ],
441
+ "quat": [
442
+ 0.636945903301239,
443
+ 0.3325185477733612,
444
+ -0.3199238181114197,
445
+ -0.6175596117973328
446
+ ],
447
+ "parent_body": "mobilebase0_support"
448
+ },
449
+ "robot0_agentview_left": {
450
+ "pos": [
451
+ -0.5,
452
+ 0.35,
453
+ 1.05
454
+ ],
455
+ "quat": [
456
+ 0.55623853,
457
+ 0.29935253,
458
+ -0.37678665,
459
+ -0.6775092
460
+ ],
461
+ "camera_attribs": {
462
+ "fovy": "60"
463
+ },
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_right": {
467
+ "pos": [
468
+ -0.5,
469
+ -0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.6775091886520386,
474
+ 0.3767866790294647,
475
+ -0.2993525564670563,
476
+ -0.55623859167099
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_frontview": {
484
+ "pos": [
485
+ -0.5,
486
+ 0,
487
+ 0.95
488
+ ],
489
+ "quat": [
490
+ 0.6088936924934387,
491
+ 0.3814677894115448,
492
+ -0.3673907518386841,
493
+ -0.5905545353889465
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_eye_in_hand": {
501
+ "pos": [
502
+ 0.05,
503
+ 0,
504
+ 0
505
+ ],
506
+ "quat": [
507
+ 0,
508
+ 0.707107,
509
+ 0.707107,
510
+ 0
511
+ ],
512
+ "parent_body": "robot0_right_hand"
513
+ }
514
+ },
515
+ "init_robot_base_pos": [
516
+ 2.1841403722971044,
517
+ -0.8275034385009783,
518
+ 0.0
519
+ ],
520
+ "init_robot_base_ori": [
521
+ 0.0,
522
+ 0.0,
523
+ 1.5707963267948966
524
+ ]
525
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000028/ep_meta.json ADDED
@@ -0,0 +1,570 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 51,
3
+ "style_id": 33,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_5_right_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.382788,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_5_right_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.382788,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_5_right_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_12/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.382788,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_5_right_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.382788,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_2_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_2_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_1_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_1_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_right_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "wallaccessory_01_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "wallaccessory_02_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wallaccessory_03_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wallaccessory_04_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory_05_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory_06_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wallaccessory_07_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "window_group_1_room": {
265
+ "cls": "Window"
266
+ },
267
+ "window_group_2_room": {
268
+ "cls": "Window"
269
+ },
270
+ "stool_2_room": {
271
+ "cls": "Stool"
272
+ },
273
+ "stool_3_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_1_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "hingecabinet_2_main_group_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "hingecabinet_5_main_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "hingecabinet_3_main_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "singlecabinet_1_main_group_1": {
289
+ "cls": "SingleCabinet"
290
+ },
291
+ "cube_2_main_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "hingecabinet_6_main_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "counter_1_main_group_1": {
298
+ "cls": "Counter"
299
+ },
300
+ "sink_main_group_1": {
301
+ "cls": "Sink"
302
+ },
303
+ "counter_2_main_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_3_main_group_1": {
307
+ "cls": "Counter"
308
+ },
309
+ "counter_corner_1_main_group_1": {
310
+ "cls": "Counter"
311
+ },
312
+ "stove_main_group_1": {
313
+ "cls": "Stove"
314
+ },
315
+ "microwave_main_group_1": {
316
+ "cls": "Microwave"
317
+ },
318
+ "micro_cab_main_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_01_main_group_1_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_01_main_group_1_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "stack_02_main_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_02_main_group_1_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_02_main_group_1_2": {
334
+ "cls": "PanelCabinet"
335
+ },
336
+ "stack_03_main_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_03_main_group_1_1": {
340
+ "cls": "SingleCabinet"
341
+ },
342
+ "stack_03_main_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_04_main_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_04_main_group_1_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_04_main_group_1_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_05_main_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_05_main_group_1_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "stack_05_main_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_06_main_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_06_main_group_1_1": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_06_main_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_06_main_group_1_3": {
373
+ "cls": "Drawer"
374
+ },
375
+ "cube_1_main_group_1": {
376
+ "cls": "Box"
377
+ },
378
+ "dishwasher_1_main_group_1": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "coffee_machine_main_group_1": {
382
+ "cls": "CoffeeMachine"
383
+ },
384
+ "papertowel_main_group_1": {
385
+ "cls": "Accessory"
386
+ },
387
+ "plant_main_group_1": {
388
+ "cls": "Accessory"
389
+ },
390
+ "toaster_main_group_1": {
391
+ "cls": "Toaster"
392
+ },
393
+ "fridgefrenchdoor_main_group_1": {
394
+ "cls": "FridgeFrenchDoor"
395
+ },
396
+ "fridgefrenchdoor_housing_main_group_1": {
397
+ "cls": "HousingCabinet"
398
+ },
399
+ "hingecabinet_4_main_group_1": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "hingecabinet_1_right_group_1": {
403
+ "cls": "HingeCabinet"
404
+ },
405
+ "singlecabinet_3_right_group_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "counter_4_right_group_1": {
409
+ "cls": "Counter"
410
+ },
411
+ "counter_5_right_group_1": {
412
+ "cls": "Counter"
413
+ },
414
+ "stack_07_right_group_1_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_07_right_group_1_1": {
418
+ "cls": "SingleCabinet"
419
+ },
420
+ "stack_08_right_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_08_right_group_1_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "stack_08_right_group_1_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "cube_1_right_group_1": {
430
+ "cls": "Box"
431
+ },
432
+ "toaster_oven_right_group_1": {
433
+ "cls": "ToasterOven"
434
+ },
435
+ "island_island_group_1": {
436
+ "cls": "Counter"
437
+ },
438
+ "stack_09_island_group_1_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_09_island_group_1_1": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_09_island_group_1_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_09_island_group_1_3": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_11_island_group_1_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_11_island_group_1_1": {
454
+ "cls": "SingleCabinet"
455
+ },
456
+ "stack_11_island_group_1_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_10_island_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_10_island_group_1_1": {
463
+ "cls": "HingeCabinet"
464
+ },
465
+ "stack_10_island_group_1_2": {
466
+ "cls": "Drawer"
467
+ },
468
+ "cube_1_island_group_1": {
469
+ "cls": "Box"
470
+ }
471
+ },
472
+ "gen_textures": {},
473
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
474
+ "fixture_refs": {
475
+ "cabinet": "hingecabinet_2_main_group_1",
476
+ "drawer": "stack_11_island_group_1_2",
477
+ "counter": "counter_5_right_group_1"
478
+ },
479
+ "cam_configs": {
480
+ "robot0_agentview_center": {
481
+ "pos": [
482
+ -0.6,
483
+ 0.0,
484
+ 1.15
485
+ ],
486
+ "quat": [
487
+ 0.636945903301239,
488
+ 0.3325185477733612,
489
+ -0.3199238181114197,
490
+ -0.6175596117973328
491
+ ],
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_agentview_left": {
495
+ "pos": [
496
+ -0.5,
497
+ 0.35,
498
+ 1.05
499
+ ],
500
+ "quat": [
501
+ 0.55623853,
502
+ 0.29935253,
503
+ -0.37678665,
504
+ -0.6775092
505
+ ],
506
+ "camera_attribs": {
507
+ "fovy": "60"
508
+ },
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_agentview_right": {
512
+ "pos": [
513
+ -0.5,
514
+ -0.35,
515
+ 1.05
516
+ ],
517
+ "quat": [
518
+ 0.6775091886520386,
519
+ 0.3767866790294647,
520
+ -0.2993525564670563,
521
+ -0.55623859167099
522
+ ],
523
+ "camera_attribs": {
524
+ "fovy": "60"
525
+ },
526
+ "parent_body": "mobilebase0_support"
527
+ },
528
+ "robot0_frontview": {
529
+ "pos": [
530
+ -0.5,
531
+ 0,
532
+ 0.95
533
+ ],
534
+ "quat": [
535
+ 0.6088936924934387,
536
+ 0.3814677894115448,
537
+ -0.3673907518386841,
538
+ -0.5905545353889465
539
+ ],
540
+ "camera_attribs": {
541
+ "fovy": "60"
542
+ },
543
+ "parent_body": "mobilebase0_support"
544
+ },
545
+ "robot0_eye_in_hand": {
546
+ "pos": [
547
+ 0.05,
548
+ 0,
549
+ 0
550
+ ],
551
+ "quat": [
552
+ 0,
553
+ 0.707107,
554
+ 0.707107,
555
+ 0
556
+ ],
557
+ "parent_body": "robot0_right_hand"
558
+ }
559
+ },
560
+ "init_robot_base_pos": [
561
+ 7.2594906341313825,
562
+ -3.7921602951461817,
563
+ 0.0
564
+ ],
565
+ "init_robot_base_ori": [
566
+ 0.0,
567
+ 0.0,
568
+ -0.0001513629834557495
569
+ ]
570
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_front_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 0.989,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_front_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 0.989,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_front_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 0.989,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_front_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.989,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "floor_1_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "floor_1_backing_room": {
235
+ "cls": "Floor"
236
+ },
237
+ "floor_2_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_2_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "wall_accessory_1_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "wall_accessory_2_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_3_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_4_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "light_switch_1_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "window_group_1_room": {
259
+ "cls": "Window"
260
+ },
261
+ "window_group_2_room": {
262
+ "cls": "Window"
263
+ },
264
+ "window_group_3_room": {
265
+ "cls": "Window"
266
+ },
267
+ "window_group_4_room": {
268
+ "cls": "Window"
269
+ },
270
+ "stool_1_room": {
271
+ "cls": "Stool"
272
+ },
273
+ "stool_2_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_3_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "counter_corner_main_group": {
280
+ "cls": "Counter"
281
+ },
282
+ "sink_1_main_group": {
283
+ "cls": "Sink"
284
+ },
285
+ "counter_1_main_group": {
286
+ "cls": "Counter"
287
+ },
288
+ "box_main_group": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_1_main_group_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_1_main_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "stack_2_main_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_main_group_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_3_main_group_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_3_main_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_3_main_group_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_3_main_group_3": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_4_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_4_main_group_1": {
319
+ "cls": "SingleCabinet"
320
+ },
321
+ "stack_4_main_group_2": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "bottom_main_group_base": {
325
+ "cls": "Box"
326
+ },
327
+ "bottom_main_group_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "middle_main_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "microwave_main_group": {
334
+ "cls": "Microwave"
335
+ },
336
+ "microwave_housing_main_group": {
337
+ "cls": "HousingCabinet"
338
+ },
339
+ "top_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cab_1_main_group": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "cab_2_main_group": {
346
+ "cls": "SingleCabinet"
347
+ },
348
+ "toaster_main_group": {
349
+ "cls": "Toaster"
350
+ },
351
+ "paper_towel_main_group": {
352
+ "cls": "Accessory"
353
+ },
354
+ "counter_1_left_group": {
355
+ "cls": "Counter"
356
+ },
357
+ "stack_1_left_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1": {
361
+ "cls": "SingleCabinet"
362
+ },
363
+ "stack_1_left_group_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_2_left_group_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_left_group_1": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_left_group_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_2_left_group_3": {
376
+ "cls": "Drawer"
377
+ },
378
+ "dishwasher_left_group": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "box_left_group": {
382
+ "cls": "Box"
383
+ },
384
+ "fridge_left_group": {
385
+ "cls": "FridgeBottomFreezer"
386
+ },
387
+ "fridge_housing_left_group": {
388
+ "cls": "HousingCabinet"
389
+ },
390
+ "fridge_top_left_group": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "cab_1_left_group": {
394
+ "cls": "HingeCabinet"
395
+ },
396
+ "coffee_machine_left_group": {
397
+ "cls": "CoffeeMachine"
398
+ },
399
+ "toaster_oven_left_group": {
400
+ "cls": "ToasterOven"
401
+ },
402
+ "counter_1_front_group": {
403
+ "cls": "Counter"
404
+ },
405
+ "stove_front_group": {
406
+ "cls": "Stove"
407
+ },
408
+ "counter_2_front_group": {
409
+ "cls": "Counter"
410
+ },
411
+ "counter_3_front_group": {
412
+ "cls": "Counter"
413
+ },
414
+ "counter_4_front_group": {
415
+ "cls": "Counter"
416
+ },
417
+ "counter_5_front_group": {
418
+ "cls": "Counter"
419
+ },
420
+ "stack_1_front_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_1_front_group_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "stack_1_front_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_2_front_group_base": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_2_front_group_1": {
433
+ "cls": "SingleCabinet"
434
+ },
435
+ "stack_2_front_group_2": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_3_front_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_3_front_group_1": {
442
+ "cls": "SingleCabinet"
443
+ },
444
+ "stack_3_front_group_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "box_1_front_group": {
448
+ "cls": "Box"
449
+ },
450
+ "box_2_front_group": {
451
+ "cls": "Box"
452
+ },
453
+ "box_3_front_group": {
454
+ "cls": "Box"
455
+ },
456
+ "hood_front_group": {
457
+ "cls": "Hood"
458
+ }
459
+ },
460
+ "gen_textures": {},
461
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
462
+ "fixture_refs": {
463
+ "cabinet": "cab_2_main_group",
464
+ "drawer": "stack_2_left_group_3",
465
+ "counter": "counter_1_front_group"
466
+ },
467
+ "cam_configs": {
468
+ "robot0_agentview_center": {
469
+ "pos": [
470
+ -0.6,
471
+ 0.0,
472
+ 1.15
473
+ ],
474
+ "quat": [
475
+ 0.636945903301239,
476
+ 0.3325185477733612,
477
+ -0.3199238181114197,
478
+ -0.6175596117973328
479
+ ],
480
+ "parent_body": "mobilebase0_support"
481
+ },
482
+ "robot0_agentview_left": {
483
+ "pos": [
484
+ -0.5,
485
+ 0.35,
486
+ 1.05
487
+ ],
488
+ "quat": [
489
+ 0.55623853,
490
+ 0.29935253,
491
+ -0.37678665,
492
+ -0.6775092
493
+ ],
494
+ "camera_attribs": {
495
+ "fovy": "60"
496
+ },
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_agentview_right": {
500
+ "pos": [
501
+ -0.5,
502
+ -0.35,
503
+ 1.05
504
+ ],
505
+ "quat": [
506
+ 0.6775091886520386,
507
+ 0.3767866790294647,
508
+ -0.2993525564670563,
509
+ -0.55623859167099
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_frontview": {
517
+ "pos": [
518
+ -0.5,
519
+ 0,
520
+ 0.95
521
+ ],
522
+ "quat": [
523
+ 0.6088936924934387,
524
+ 0.3814677894115448,
525
+ -0.3673907518386841,
526
+ -0.5905545353889465
527
+ ],
528
+ "camera_attribs": {
529
+ "fovy": "60"
530
+ },
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_eye_in_hand": {
534
+ "pos": [
535
+ 0.05,
536
+ 0,
537
+ 0
538
+ ],
539
+ "quat": [
540
+ 0,
541
+ 0.707107,
542
+ 0.707107,
543
+ 0
544
+ ],
545
+ "parent_body": "robot0_right_hand"
546
+ }
547
+ },
548
+ "init_robot_base_pos": [
549
+ 4.0869595981345785,
550
+ -2.0735449362330356,
551
+ 0.0
552
+ ],
553
+ "init_robot_base_ori": [
554
+ 0.0,
555
+ 0.0,
556
+ -1.57079623937212
557
+ ]
558
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,489 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 52,
3
+ "style_id": 51,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_left_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.009,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_left_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.009,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_left_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.009,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_left_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_13/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.009,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_left_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_front_1.001_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_front_1.001_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_front_2.002_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_front_2.002_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_front_3.003_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_front_3.003_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "floor_1_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_1_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "wallaccessory_4_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wallaccessory_3_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory_2_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "cube_4_main_group_1": {
259
+ "cls": "Box"
260
+ },
261
+ "cube_5_main_group_1": {
262
+ "cls": "Box"
263
+ },
264
+ "hingecabinet_2_main_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "singlecabinet_2_main_group_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "hingecabinet_1_main_group_1": {
271
+ "cls": "HingeCabinet"
272
+ },
273
+ "counter_corner_1_main_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "counter_corner_2_main_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "counter_2_main_group_1": {
280
+ "cls": "Counter"
281
+ },
282
+ "counter_3_main_group_1": {
283
+ "cls": "Counter"
284
+ },
285
+ "stove_main_group_1": {
286
+ "cls": "Stove"
287
+ },
288
+ "stack_04_main_group_1_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_04_main_group_1_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "stack_03_main_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_03_main_group_1_1": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "coffee_machine_main_group_1": {
301
+ "cls": "CoffeeMachine"
302
+ },
303
+ "papertowel_main_group_1": {
304
+ "cls": "Accessory"
305
+ },
306
+ "hingecabinet_3_right_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "hingecabinet_4_right_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "hingecabinet_5_right_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "sink_right_group_1": {
316
+ "cls": "Sink"
317
+ },
318
+ "counter_4_right_group_1": {
319
+ "cls": "Counter"
320
+ },
321
+ "cube_1_right_group_1": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_2_right_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_2_right_group_1_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "stack_2_right_group_1_2": {
331
+ "cls": "PanelCabinet"
332
+ },
333
+ "dishwasher_1_right_group_1": {
334
+ "cls": "Dishwasher"
335
+ },
336
+ "cube_2_right_group_1": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_01_right_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_01_right_group_1_1": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_01_right_group_1_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_01_right_group_1_3": {
349
+ "cls": "Drawer"
350
+ },
351
+ "toaster_right_group_1": {
352
+ "cls": "Toaster"
353
+ },
354
+ "counter_1_left_group_1": {
355
+ "cls": "Counter"
356
+ },
357
+ "stack_05_left_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_05_left_group_1_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_05_left_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_05_left_group_1_3": {
367
+ "cls": "Drawer"
368
+ },
369
+ "cube_1_left_group_1": {
370
+ "cls": "Box"
371
+ },
372
+ "fridgebottomfreezer_left_group_1": {
373
+ "cls": "FridgeBottomFreezer"
374
+ },
375
+ "fridgebottomfreezer_housing_left_group_1": {
376
+ "cls": "HousingCabinet"
377
+ },
378
+ "hingecabinet_5_left_group_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "singlecabinet_1_left_group_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "microwave_left_group_1": {
385
+ "cls": "Microwave"
386
+ },
387
+ "cab_micro_left_group_1": {
388
+ "cls": "HingeCabinet"
389
+ }
390
+ },
391
+ "gen_textures": {},
392
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
393
+ "fixture_refs": {
394
+ "cabinet": "hingecabinet_3_right_group_1",
395
+ "drawer": "stack_05_left_group_1_3",
396
+ "counter": "counter_1_left_group_1"
397
+ },
398
+ "cam_configs": {
399
+ "robot0_agentview_center": {
400
+ "pos": [
401
+ -0.6,
402
+ 0.0,
403
+ 1.15
404
+ ],
405
+ "quat": [
406
+ 0.636945903301239,
407
+ 0.3325185477733612,
408
+ -0.3199238181114197,
409
+ -0.6175596117973328
410
+ ],
411
+ "parent_body": "mobilebase0_support"
412
+ },
413
+ "robot0_agentview_left": {
414
+ "pos": [
415
+ -0.5,
416
+ 0.35,
417
+ 1.05
418
+ ],
419
+ "quat": [
420
+ 0.55623853,
421
+ 0.29935253,
422
+ -0.37678665,
423
+ -0.6775092
424
+ ],
425
+ "camera_attribs": {
426
+ "fovy": "60"
427
+ },
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_agentview_right": {
431
+ "pos": [
432
+ -0.5,
433
+ -0.35,
434
+ 1.05
435
+ ],
436
+ "quat": [
437
+ 0.6775091886520386,
438
+ 0.3767866790294647,
439
+ -0.2993525564670563,
440
+ -0.55623859167099
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_frontview": {
448
+ "pos": [
449
+ -0.5,
450
+ 0,
451
+ 0.95
452
+ ],
453
+ "quat": [
454
+ 0.6088936924934387,
455
+ 0.3814677894115448,
456
+ -0.3673907518386841,
457
+ -0.5905545353889465
458
+ ],
459
+ "camera_attribs": {
460
+ "fovy": "60"
461
+ },
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_eye_in_hand": {
465
+ "pos": [
466
+ 0.05,
467
+ 0,
468
+ 0
469
+ ],
470
+ "quat": [
471
+ 0,
472
+ 0.707107,
473
+ 0.707107,
474
+ 0
475
+ ],
476
+ "parent_body": "robot0_right_hand"
477
+ }
478
+ },
479
+ "init_robot_base_pos": [
480
+ 0.9937087797756778,
481
+ -0.9794395120832298,
482
+ 0.0
483
+ ],
484
+ "init_robot_base_ori": [
485
+ 0.0,
486
+ 0.0,
487
+ 3.1414412336089432
488
+ ]
489
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000048/ep_meta.json ADDED
@@ -0,0 +1,561 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "island_island_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.6922084659761802,
43
+ 1.3
44
+ ],
45
+ "offset": [
46
+ 1.2038772670119098,
47
+ 2.0816681711721685e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_1"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.6922084659761802,
91
+ 1.3
92
+ ],
93
+ "offset": [
94
+ 1.2038772670119098,
95
+ 2.0816681711721685e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_1"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "island_island_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.6922084659761802,
143
+ 1.3
144
+ ],
145
+ "offset": [
146
+ 1.2038772670119098,
147
+ 2.0816681711721685e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_1"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "island_island_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.6922084659761802,
195
+ 1.3
196
+ ],
197
+ "offset": [
198
+ 1.2038772670119098,
199
+ 2.0816681711721685e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_1"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_2_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_main_2_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_1_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_1_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_main_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_main_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_2_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_2_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "stool_3_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stool_2_room": {
253
+ "cls": "Stool"
254
+ },
255
+ "stool_1_room": {
256
+ "cls": "Stool"
257
+ },
258
+ "stack_1_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_1_main_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "fridgebottomfreezer_main_group_1": {
265
+ "cls": "FridgeBottomFreezer"
266
+ },
267
+ "fridgebottomfreezer_housing_main_group_1": {
268
+ "cls": "HousingCabinet"
269
+ },
270
+ "bottom_main_group_1_base": {
271
+ "cls": "Box"
272
+ },
273
+ "bottom_main_group_1_1": {
274
+ "cls": "Drawer"
275
+ },
276
+ "oven_main_group_1": {
277
+ "cls": "Oven"
278
+ },
279
+ "microwave_main_group_1": {
280
+ "cls": "Microwave"
281
+ },
282
+ "hingecabinet_2_main_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "hingecabinet_3_main_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "cube_2_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "cube_3_main_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "cube_1_main_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "oven_housing_main_group_1": {
298
+ "cls": "HousingCabinet"
299
+ },
300
+ "hingecabinet_1_main_group_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "microwave_housing_main_group_1": {
304
+ "cls": "HousingCabinet"
305
+ },
306
+ "top_main_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stovetop_right_group_1": {
310
+ "cls": "Stovetop"
311
+ },
312
+ "counter_1_right_group_1": {
313
+ "cls": "Counter"
314
+ },
315
+ "hingecabinet_1_right_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "hingecabinet_2_right_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "hingecabinet_3_right_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "hingecabinet_4_right_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "hood_right_group_1": {
328
+ "cls": "Hood"
329
+ },
330
+ "stack_2_right_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_2_right_group_1_1": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "stack_2_right_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_1_right_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_1_right_group_1_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_1_right_group_1_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_4_right_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_4_right_group_1_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_4_right_group_1_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_3_right_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_3_right_group_1_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_3_right_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_3_right_group_1_3": {
367
+ "cls": "PanelCabinet"
368
+ },
369
+ "stack_5_right_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_5_right_group_1_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "stack_5_right_group_1_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "coffee_machine_right_group_1": {
379
+ "cls": "CoffeeMachine"
380
+ },
381
+ "toaster_right_group_1": {
382
+ "cls": "Toaster"
383
+ },
384
+ "papertowel_right_group_1": {
385
+ "cls": "Accessory"
386
+ },
387
+ "toaster_oven_right_group_1": {
388
+ "cls": "ToasterOven"
389
+ },
390
+ "sink_island_group_1": {
391
+ "cls": "Sink"
392
+ },
393
+ "island_island_group_1": {
394
+ "cls": "Counter"
395
+ },
396
+ "cube_1_island_group_1": {
397
+ "cls": "Box"
398
+ },
399
+ "cube_2_island_group_1": {
400
+ "cls": "Box"
401
+ },
402
+ "cube_3_island_group_1": {
403
+ "cls": "Box"
404
+ },
405
+ "cube_4_island_group_1": {
406
+ "cls": "Box"
407
+ },
408
+ "cube_5_island_group_1": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_1_island_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_1_island_group_1_1": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_1_island_group_1_2": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_1_island_group_1_3": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_2_island_group_1_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_2_island_group_1_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "stack_3_island_group_1_base": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_3_island_group_1_1": {
433
+ "cls": "SingleCabinet"
434
+ },
435
+ "stack_4_island_group_1_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_4_island_group_1_1": {
439
+ "cls": "SingleCabinet"
440
+ },
441
+ "stack_5_island_group_1_base": {
442
+ "cls": "Box"
443
+ },
444
+ "stack_5_island_group_1_1": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_5_island_group_1_2": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_5_island_group_1_3": {
451
+ "cls": "Drawer"
452
+ },
453
+ "cube_6_island_group_1": {
454
+ "cls": "Box"
455
+ },
456
+ "cube_7_island_group_1": {
457
+ "cls": "Box"
458
+ },
459
+ "dishwasher_1_island_group_1": {
460
+ "cls": "Dishwasher"
461
+ }
462
+ },
463
+ "gen_textures": {},
464
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
465
+ "fixture_refs": {
466
+ "cabinet": "hingecabinet_2_right_group_1",
467
+ "drawer": "stack_1_island_group_1_3",
468
+ "counter": "island_island_group_1"
469
+ },
470
+ "cam_configs": {
471
+ "robot0_agentview_center": {
472
+ "pos": [
473
+ -0.6,
474
+ 0.0,
475
+ 1.15
476
+ ],
477
+ "quat": [
478
+ 0.636945903301239,
479
+ 0.3325185477733612,
480
+ -0.3199238181114197,
481
+ -0.6175596117973328
482
+ ],
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_agentview_left": {
486
+ "pos": [
487
+ -0.5,
488
+ 0.35,
489
+ 1.05
490
+ ],
491
+ "quat": [
492
+ 0.55623853,
493
+ 0.29935253,
494
+ -0.37678665,
495
+ -0.6775092
496
+ ],
497
+ "camera_attribs": {
498
+ "fovy": "60"
499
+ },
500
+ "parent_body": "mobilebase0_support"
501
+ },
502
+ "robot0_agentview_right": {
503
+ "pos": [
504
+ -0.5,
505
+ -0.35,
506
+ 1.05
507
+ ],
508
+ "quat": [
509
+ 0.6775091886520386,
510
+ 0.3767866790294647,
511
+ -0.2993525564670563,
512
+ -0.55623859167099
513
+ ],
514
+ "camera_attribs": {
515
+ "fovy": "60"
516
+ },
517
+ "parent_body": "mobilebase0_support"
518
+ },
519
+ "robot0_frontview": {
520
+ "pos": [
521
+ -0.5,
522
+ 0,
523
+ 0.95
524
+ ],
525
+ "quat": [
526
+ 0.6088936924934387,
527
+ 0.3814677894115448,
528
+ -0.3673907518386841,
529
+ -0.5905545353889465
530
+ ],
531
+ "camera_attribs": {
532
+ "fovy": "60"
533
+ },
534
+ "parent_body": "mobilebase0_support"
535
+ },
536
+ "robot0_eye_in_hand": {
537
+ "pos": [
538
+ 0.05,
539
+ 0,
540
+ 0
541
+ ],
542
+ "quat": [
543
+ 0,
544
+ 0.707107,
545
+ 0.707107,
546
+ 0
547
+ ],
548
+ "parent_body": "robot0_right_hand"
549
+ }
550
+ },
551
+ "init_robot_base_pos": [
552
+ 3.101865931164989,
553
+ -3.274506786475375,
554
+ 0.0
555
+ ],
556
+ "init_robot_base_ori": [
557
+ 0.0,
558
+ 0.0,
559
+ 3.14159329371052
560
+ ]
561
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,606 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 22,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "dining_dining_area_group_2",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.118,
43
+ 0.85
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "dining_dining_area_group_2",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.118,
91
+ 0.85
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "dining_dining_area_group_2",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_10/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.118,
143
+ 0.85
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "dining_dining_area_group_2",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.118,
195
+ 0.85
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_front_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_front_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_left_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_main_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_3_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_3_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_main_2_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_main_2_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_right_1_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_right_1_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_right_2_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_right_2_backing_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_front_2_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_front_2_backing_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_main_4_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_main_4_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "floor_1_room": {
262
+ "cls": "Floor"
263
+ },
264
+ "floor_1_backing_room": {
265
+ "cls": "Floor"
266
+ },
267
+ "floor_2_room": {
268
+ "cls": "Floor"
269
+ },
270
+ "floor_2_backing_room": {
271
+ "cls": "Floor"
272
+ },
273
+ "floor_3_room": {
274
+ "cls": "Floor"
275
+ },
276
+ "floor_3_backing_room": {
277
+ "cls": "Floor"
278
+ },
279
+ "floor_4_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_4_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "wall_accessory_1_room": {
286
+ "cls": "WallAccessory"
287
+ },
288
+ "wall_accessory_2_room": {
289
+ "cls": "WallAccessory"
290
+ },
291
+ "wall_accessory_3_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "wall_accessory_4_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "light_switch_1_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "window_group_room": {
301
+ "cls": "Window"
302
+ },
303
+ "stool_1_room": {
304
+ "cls": "Stool"
305
+ },
306
+ "stool_2_room": {
307
+ "cls": "Stool"
308
+ },
309
+ "stool_3_room": {
310
+ "cls": "Stool"
311
+ },
312
+ "stool_4_room": {
313
+ "cls": "Stool"
314
+ },
315
+ "stool_5_room": {
316
+ "cls": "Stool"
317
+ },
318
+ "stool_6_room": {
319
+ "cls": "Stool"
320
+ },
321
+ "sink_1_left_group": {
322
+ "cls": "Sink"
323
+ },
324
+ "counter_1_left_group": {
325
+ "cls": "Counter"
326
+ },
327
+ "stack_1_left_group_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_1_left_group_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "stack_1_left_group_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_2_left_group_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_left_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_2_left_group_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "oven_left_group": {
346
+ "cls": "Oven"
347
+ },
348
+ "stack_3_left_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_3_left_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "dishwasher_left_group": {
355
+ "cls": "Dishwasher"
356
+ },
357
+ "stack_4_left_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_4_left_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "stack_4_left_group_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "cab_1_left_group": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "cab_2_left_group": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "toaster_left_group": {
373
+ "cls": "Toaster"
374
+ },
375
+ "coffee_machine_left_group": {
376
+ "cls": "CoffeeMachine"
377
+ },
378
+ "paper_towel_left_group": {
379
+ "cls": "Accessory"
380
+ },
381
+ "knife_block_left_group": {
382
+ "cls": "Accessory"
383
+ },
384
+ "fridge_main_group": {
385
+ "cls": "FridgeFrenchDoor"
386
+ },
387
+ "fridge_housing_main_group": {
388
+ "cls": "HousingCabinet"
389
+ },
390
+ "counter_1_main_group": {
391
+ "cls": "Counter"
392
+ },
393
+ "stack_1_main_group_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_1_main_group_1": {
397
+ "cls": "HingeCabinet"
398
+ },
399
+ "stack_1_main_group_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_1_main_group_3": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_2_main_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_2_main_group_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_2_main_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_main_group_3": {
415
+ "cls": "Drawer"
416
+ },
417
+ "cab_1_main_group": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "cab_2_main_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "cab_3_main_group": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "toaster_oven_main_group": {
427
+ "cls": "ToasterOven"
428
+ },
429
+ "stovetop_dining_area_group_1": {
430
+ "cls": "Stovetop"
431
+ },
432
+ "dining_dining_area_group_1": {
433
+ "cls": "Counter"
434
+ },
435
+ "stack_1_dining_area_group_1_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_1_dining_area_group_1_1": {
439
+ "cls": "SingleCabinet"
440
+ },
441
+ "stack_1_dining_area_group_1_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_2_dining_area_group_1_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_2_dining_area_group_1_1": {
448
+ "cls": "HingeCabinet"
449
+ },
450
+ "stack_3_dining_area_group_1_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_3_dining_area_group_1_1": {
454
+ "cls": "SingleCabinet"
455
+ },
456
+ "stack_3_dining_area_group_1_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "dining_dining_area_group_2": {
460
+ "cls": "Counter"
461
+ },
462
+ "stack_1_dining_area_group_2_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_1_dining_area_group_2_1": {
466
+ "cls": "SingleCabinet"
467
+ },
468
+ "stack_1_dining_area_group_2_2": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_2_dining_area_group_2_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_2_dining_area_group_2_1": {
475
+ "cls": "HingeCabinet"
476
+ },
477
+ "stack_2_dining_area_group_2_2": {
478
+ "cls": "Drawer"
479
+ },
480
+ "stack_3_dining_area_group_2_base": {
481
+ "cls": "Box"
482
+ },
483
+ "stack_3_dining_area_group_2_1": {
484
+ "cls": "SingleCabinet"
485
+ },
486
+ "stack_3_dining_area_group_2_2": {
487
+ "cls": "Drawer"
488
+ },
489
+ "bottom_front_group_base": {
490
+ "cls": "Box"
491
+ },
492
+ "bottom_front_group_1": {
493
+ "cls": "Drawer"
494
+ },
495
+ "middle_front_group": {
496
+ "cls": "HingeCabinet"
497
+ },
498
+ "microwave_front_group": {
499
+ "cls": "Microwave"
500
+ },
501
+ "microwave_housing_front_group": {
502
+ "cls": "HousingCabinet"
503
+ },
504
+ "top_front_group": {
505
+ "cls": "HingeCabinet"
506
+ }
507
+ },
508
+ "gen_textures": {},
509
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
510
+ "fixture_refs": {
511
+ "cabinet": "cab_2_left_group",
512
+ "drawer": "stack_1_main_group_3",
513
+ "counter": "dining_dining_area_group_2"
514
+ },
515
+ "cam_configs": {
516
+ "robot0_agentview_center": {
517
+ "pos": [
518
+ -0.6,
519
+ 0.0,
520
+ 1.15
521
+ ],
522
+ "quat": [
523
+ 0.636945903301239,
524
+ 0.3325185477733612,
525
+ -0.3199238181114197,
526
+ -0.6175596117973328
527
+ ],
528
+ "parent_body": "mobilebase0_support"
529
+ },
530
+ "robot0_agentview_left": {
531
+ "pos": [
532
+ -0.5,
533
+ 0.35,
534
+ 1.05
535
+ ],
536
+ "quat": [
537
+ 0.55623853,
538
+ 0.29935253,
539
+ -0.37678665,
540
+ -0.6775092
541
+ ],
542
+ "camera_attribs": {
543
+ "fovy": "60"
544
+ },
545
+ "parent_body": "mobilebase0_support"
546
+ },
547
+ "robot0_agentview_right": {
548
+ "pos": [
549
+ -0.5,
550
+ -0.35,
551
+ 1.05
552
+ ],
553
+ "quat": [
554
+ 0.6775091886520386,
555
+ 0.3767866790294647,
556
+ -0.2993525564670563,
557
+ -0.55623859167099
558
+ ],
559
+ "camera_attribs": {
560
+ "fovy": "60"
561
+ },
562
+ "parent_body": "mobilebase0_support"
563
+ },
564
+ "robot0_frontview": {
565
+ "pos": [
566
+ -0.5,
567
+ 0,
568
+ 0.95
569
+ ],
570
+ "quat": [
571
+ 0.6088936924934387,
572
+ 0.3814677894115448,
573
+ -0.3673907518386841,
574
+ -0.5905545353889465
575
+ ],
576
+ "camera_attribs": {
577
+ "fovy": "60"
578
+ },
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_eye_in_hand": {
582
+ "pos": [
583
+ 0.05,
584
+ 0,
585
+ 0
586
+ ],
587
+ "quat": [
588
+ 0,
589
+ 0.707107,
590
+ 0.707107,
591
+ 0
592
+ ],
593
+ "parent_body": "robot0_right_hand"
594
+ }
595
+ },
596
+ "init_robot_base_pos": [
597
+ 3.1810798453873828,
598
+ -4.562141465689131,
599
+ 0.0
600
+ ],
601
+ "init_robot_base_ori": [
602
+ 0.0,
603
+ 0.0,
604
+ -1.57079623937212
605
+ ]
606
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000053/ep_meta.json ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 11,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "dining_dining_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.15,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "dining_dining_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.15,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "dining_dining_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_19/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.15,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "dining_dining_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.15,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_2_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_2_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "wall_accessory_1_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_2_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "light_switch_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wall_accessory_3_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wall_accessory_4_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "stool_2_room": {
265
+ "cls": "Stool"
266
+ },
267
+ "stool_1_room": {
268
+ "cls": "Stool"
269
+ },
270
+ "counter_corner_main_group": {
271
+ "cls": "Counter"
272
+ },
273
+ "counter_1_main_group": {
274
+ "cls": "Counter"
275
+ },
276
+ "stove_1_main_group": {
277
+ "cls": "Stove"
278
+ },
279
+ "counter_2_main_group": {
280
+ "cls": "Counter"
281
+ },
282
+ "stack_1_main_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_1_main_group_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_1_main_group_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_1_main_group_3": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_1_main_group_4": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_2_main_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_main_group_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_2_main_group_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_main_group_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_3_main_group_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_3_main_group_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_4_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_4_main_group_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_4_main_group_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_4_main_group_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_4_main_group_4": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_5_main_group_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_5_main_group_1": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "stack_5_main_group_2": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_1_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "microwave_main_group": {
343
+ "cls": "Microwave"
344
+ },
345
+ "cab_2_main_group": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cab_3_main_group": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "counter_stack_main_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "counter_stack_main_group_1": {
355
+ "cls": "SingleCabinet"
356
+ },
357
+ "counter_stack_main_group_2": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "counter_stack_main_group_3": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "toaster_main_group": {
364
+ "cls": "Toaster"
365
+ },
366
+ "sink_left_group": {
367
+ "cls": "Sink"
368
+ },
369
+ "counter_1_left_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "counter_left_group": {
373
+ "cls": "Counter"
374
+ },
375
+ "panel_cab_left_group_base": {
376
+ "cls": "Box"
377
+ },
378
+ "panel_cab_left_group_1": {
379
+ "cls": "PanelCabinet"
380
+ },
381
+ "dishwasher_left_group": {
382
+ "cls": "Dishwasher"
383
+ },
384
+ "stack_1_left_group_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_1_left_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "stack_1_left_group_2": {
391
+ "cls": "PanelCabinet"
392
+ },
393
+ "stack_2_left_group_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_2_left_group_1": {
397
+ "cls": "SingleCabinet"
398
+ },
399
+ "stack_2_left_group_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "box_left_group": {
403
+ "cls": "Box"
404
+ },
405
+ "coffee_machine_left_group": {
406
+ "cls": "CoffeeMachine"
407
+ },
408
+ "paper_towel_left_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "box_right_group": {
412
+ "cls": "Box"
413
+ },
414
+ "fridge_right_group": {
415
+ "cls": "FridgeBottomFreezer"
416
+ },
417
+ "fridge_housing_right_group": {
418
+ "cls": "HousingCabinet"
419
+ },
420
+ "cab_1_right_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "dining_dining_group": {
424
+ "cls": "Counter"
425
+ }
426
+ },
427
+ "gen_textures": {},
428
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
429
+ "fixture_refs": {
430
+ "cabinet": "cab_1_main_group",
431
+ "drawer": "stack_3_main_group_2",
432
+ "counter": "dining_dining_group"
433
+ },
434
+ "cam_configs": {
435
+ "robot0_agentview_center": {
436
+ "pos": [
437
+ -0.6,
438
+ 0.0,
439
+ 1.15
440
+ ],
441
+ "quat": [
442
+ 0.636945903301239,
443
+ 0.3325185477733612,
444
+ -0.3199238181114197,
445
+ -0.6175596117973328
446
+ ],
447
+ "parent_body": "mobilebase0_support"
448
+ },
449
+ "robot0_agentview_left": {
450
+ "pos": [
451
+ -0.5,
452
+ 0.35,
453
+ 1.05
454
+ ],
455
+ "quat": [
456
+ 0.55623853,
457
+ 0.29935253,
458
+ -0.37678665,
459
+ -0.6775092
460
+ ],
461
+ "camera_attribs": {
462
+ "fovy": "60"
463
+ },
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_right": {
467
+ "pos": [
468
+ -0.5,
469
+ -0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.6775091886520386,
474
+ 0.3767866790294647,
475
+ -0.2993525564670563,
476
+ -0.55623859167099
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_frontview": {
484
+ "pos": [
485
+ -0.5,
486
+ 0,
487
+ 0.95
488
+ ],
489
+ "quat": [
490
+ 0.6088936924934387,
491
+ 0.3814677894115448,
492
+ -0.3673907518386841,
493
+ -0.5905545353889465
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_eye_in_hand": {
501
+ "pos": [
502
+ 0.05,
503
+ 0,
504
+ 0
505
+ ],
506
+ "quat": [
507
+ 0,
508
+ 0.707107,
509
+ 0.707107,
510
+ 0
511
+ ],
512
+ "parent_body": "robot0_right_hand"
513
+ }
514
+ },
515
+ "init_robot_base_pos": [
516
+ -1.2583533175650752,
517
+ -2.0270801585343086,
518
+ 0.0
519
+ ],
520
+ "init_robot_base_ori": [
521
+ 0.0,
522
+ 0.0,
523
+ 2.0281593271498366e-07
524
+ ]
525
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000056/ep_meta.json ADDED
@@ -0,0 +1,519 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 59,
3
+ "style_id": 22,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.061065,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.061065,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.061065,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_0/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.061065,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_01_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_left_01_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_2_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_main_2_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_02_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_02_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_03_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_03_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_left_04_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_left_04_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "floor_1_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_1_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "floor_2_room": {
250
+ "cls": "Floor"
251
+ },
252
+ "floor_2_backing_room": {
253
+ "cls": "Floor"
254
+ },
255
+ "wallaccessory_01_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory_02_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wallaccessory_03_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "wallaccessory_04_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "window_group_1_room": {
268
+ "cls": "Window"
269
+ },
270
+ "window_group_2_room": {
271
+ "cls": "Window"
272
+ },
273
+ "stool_2_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_1_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "stool_3_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "fridgefrenchdoor_left_group_1": {
283
+ "cls": "FridgeFrenchDoor"
284
+ },
285
+ "fridgefrenchdoor_housing_left_group_1": {
286
+ "cls": "HousingCabinet"
287
+ },
288
+ "bottom_left_group_1_base": {
289
+ "cls": "Box"
290
+ },
291
+ "bottom_left_group_1_1": {
292
+ "cls": "Drawer"
293
+ },
294
+ "microwave_left_group_1": {
295
+ "cls": "Microwave"
296
+ },
297
+ "oven_cabinet_left_group_1": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "hingecabinet_1_left_group_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "microwave_housing_left_group_1": {
304
+ "cls": "HousingCabinet"
305
+ },
306
+ "top_left_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_1_island_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_1_island_group_1_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "stack_1_island_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_2_island_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_2_island_group_1_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_2_island_group_1_2": {
325
+ "cls": "PanelCabinet"
326
+ },
327
+ "cube_3_island_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "cube_1_island_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "cube_2_island_group_1": {
334
+ "cls": "Box"
335
+ },
336
+ "cube_4_island_group_1": {
337
+ "cls": "Box"
338
+ },
339
+ "dishwasher_1_island_group_1": {
340
+ "cls": "Dishwasher"
341
+ },
342
+ "sink_island_group_1": {
343
+ "cls": "Sink"
344
+ },
345
+ "island_island_group_1": {
346
+ "cls": "Counter"
347
+ },
348
+ "stack_01_main_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_01_main_group_1_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_01_main_group_1_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_02_main_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_02_main_group_1_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "stack_02_main_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_03_main_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_03_main_group_1_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_03_main_group_1_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_04_main_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_04_main_group_1_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "stack_04_main_group_1_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "counter_2_main_group_1": {
385
+ "cls": "Counter"
386
+ },
387
+ "counter_3_main_group_1": {
388
+ "cls": "Counter"
389
+ },
390
+ "widestove_main_group_1": {
391
+ "cls": "Stove"
392
+ },
393
+ "widestove_hood_main_group_1": {
394
+ "cls": "Hood"
395
+ },
396
+ "singlecabinet_03_main_group_1": {
397
+ "cls": "SingleCabinet"
398
+ },
399
+ "singlecabinet_02_main_group_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "singlecabinet_01_main_group_1": {
403
+ "cls": "SingleCabinet"
404
+ },
405
+ "singlecabinet_04_main_group_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "coffee_machine_main_group_1": {
409
+ "cls": "CoffeeMachine"
410
+ },
411
+ "toaster_main_group_1": {
412
+ "cls": "Toaster"
413
+ },
414
+ "paper_towel_main_group_1": {
415
+ "cls": "Accessory"
416
+ },
417
+ "toaster_oven_main_group_1": {
418
+ "cls": "ToasterOven"
419
+ }
420
+ },
421
+ "gen_textures": {},
422
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
423
+ "fixture_refs": {
424
+ "cabinet": "singlecabinet_03_main_group_1",
425
+ "drawer": "stack_03_main_group_1_2",
426
+ "counter": "counter_2_main_group_1"
427
+ },
428
+ "cam_configs": {
429
+ "robot0_agentview_center": {
430
+ "pos": [
431
+ -0.6,
432
+ 0.0,
433
+ 1.15
434
+ ],
435
+ "quat": [
436
+ 0.636945903301239,
437
+ 0.3325185477733612,
438
+ -0.3199238181114197,
439
+ -0.6175596117973328
440
+ ],
441
+ "parent_body": "mobilebase0_support"
442
+ },
443
+ "robot0_agentview_left": {
444
+ "pos": [
445
+ -0.5,
446
+ 0.35,
447
+ 1.05
448
+ ],
449
+ "quat": [
450
+ 0.55623853,
451
+ 0.29935253,
452
+ -0.37678665,
453
+ -0.6775092
454
+ ],
455
+ "camera_attribs": {
456
+ "fovy": "60"
457
+ },
458
+ "parent_body": "mobilebase0_support"
459
+ },
460
+ "robot0_agentview_right": {
461
+ "pos": [
462
+ -0.5,
463
+ -0.35,
464
+ 1.05
465
+ ],
466
+ "quat": [
467
+ 0.6775091886520386,
468
+ 0.3767866790294647,
469
+ -0.2993525564670563,
470
+ -0.55623859167099
471
+ ],
472
+ "camera_attribs": {
473
+ "fovy": "60"
474
+ },
475
+ "parent_body": "mobilebase0_support"
476
+ },
477
+ "robot0_frontview": {
478
+ "pos": [
479
+ -0.5,
480
+ 0,
481
+ 0.95
482
+ ],
483
+ "quat": [
484
+ 0.6088936924934387,
485
+ 0.3814677894115448,
486
+ -0.3673907518386841,
487
+ -0.5905545353889465
488
+ ],
489
+ "camera_attribs": {
490
+ "fovy": "60"
491
+ },
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_eye_in_hand": {
495
+ "pos": [
496
+ 0.05,
497
+ 0,
498
+ 0
499
+ ],
500
+ "quat": [
501
+ 0,
502
+ 0.707107,
503
+ 0.707107,
504
+ 0
505
+ ],
506
+ "parent_body": "robot0_right_hand"
507
+ }
508
+ },
509
+ "init_robot_base_pos": [
510
+ 4.839415043150341,
511
+ -0.9173727928587079,
512
+ 0.0
513
+ ],
514
+ "init_robot_base_ori": [
515
+ 0.0,
516
+ 0.0,
517
+ 1.5707888166096549
518
+ ]
519
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000060/ep_meta.json ADDED
@@ -0,0 +1,597 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 43,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.189956,
43
+ 0.650008
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.189956,
91
+ 0.650008
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_11/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.189956,
143
+ 0.650008
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.189956,
195
+ 0.650008
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_left_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_2_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_right_2_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_main_3_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "floor_1_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_1_backing_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_1.001_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "floor_1.001_backing_room": {
250
+ "cls": "Floor"
251
+ },
252
+ "wallaccessory.001_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory.005_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory.003_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wallaccessory.004_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "wallaccessory.002_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "wallaccessory_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "wallaccessory.006_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "counter_corner_1_main_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "counter_1_main_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "counter_2_main_group_1": {
280
+ "cls": "Counter"
281
+ },
282
+ "stove_main_group_1": {
283
+ "cls": "Stove"
284
+ },
285
+ "counter_corner_2_main_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "stove_hood_main_group_1": {
289
+ "cls": "Hood"
290
+ },
291
+ "hingecabinet_1_main_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "cube_1_main_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "hingecabinet_2_main_group_1": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "cube_2_main_group_1": {
301
+ "cls": "Box"
302
+ },
303
+ "coffeemachine_main_group_1": {
304
+ "cls": "CoffeeMachine"
305
+ },
306
+ "toaster_main_group_1": {
307
+ "cls": "Toaster"
308
+ },
309
+ "papertowel_main_group_1": {
310
+ "cls": "Accessory"
311
+ },
312
+ "plant_main_group_1": {
313
+ "cls": "Accessory"
314
+ },
315
+ "stack_1_main_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_1_main_group_1_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_2_main_group_1_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_2_main_group_1_1": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_2_main_group_1_2": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_3_main_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_3_main_group_1_1": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "cube_3_main_group_1": {
337
+ "cls": "Box"
338
+ },
339
+ "cube_4_main_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "counter_1_front_group_1": {
343
+ "cls": "Counter"
344
+ },
345
+ "stack_1_front_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_1_front_group_1_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_1_front_group_1_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "cube_1_front_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "cube_2_front_group_1": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_2_front_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_2_front_group_1_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "counter_1_right_group_1": {
367
+ "cls": "Counter"
368
+ },
369
+ "singlecabinet_1_right_group_1": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "hingecabinet_1_right_group_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "opencabinet_1_right_group_1": {
376
+ "cls": "OpenCabinet"
377
+ },
378
+ "cube_1_right_group_1": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_1_right_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_right_group_1_1": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "stack_2_right_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_2_right_group_1_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_2_right_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_2_right_group_1_3": {
397
+ "cls": "Drawer"
398
+ },
399
+ "fridgesidebyside_right_group_1": {
400
+ "cls": "FridgeSideBySide"
401
+ },
402
+ "fridgesidebyside_housing_right_group_1": {
403
+ "cls": "HousingCabinet"
404
+ },
405
+ "bottom_right_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "bottom_right_group_1_1": {
409
+ "cls": "Drawer"
410
+ },
411
+ "microwave_right_group_1": {
412
+ "cls": "Microwave"
413
+ },
414
+ "singlecabinet_3_right_group_1": {
415
+ "cls": "SingleCabinet"
416
+ },
417
+ "stack_3_right_group_1_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_3_right_group_1_1": {
421
+ "cls": "SingleCabinet"
422
+ },
423
+ "oven_cabinet_right_group_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "hingecabinet_2_right_group_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "microwave_housing_right_group_1": {
430
+ "cls": "HousingCabinet"
431
+ },
432
+ "singlecabinet_2_right_group_1": {
433
+ "cls": "SingleCabinet"
434
+ },
435
+ "top_right_group_1": {
436
+ "cls": "HingeCabinet"
437
+ },
438
+ "toaster_oven_right_group_1": {
439
+ "cls": "ToasterOven"
440
+ },
441
+ "sink_left_group_1": {
442
+ "cls": "Sink"
443
+ },
444
+ "counter_1_left_group_1": {
445
+ "cls": "Counter"
446
+ },
447
+ "counter_corner_1_left_group_1": {
448
+ "cls": "Counter"
449
+ },
450
+ "counter_2_left_group_1": {
451
+ "cls": "Counter"
452
+ },
453
+ "singlecabinet_1_left_group_1": {
454
+ "cls": "SingleCabinet"
455
+ },
456
+ "hingecabinet_1_left_group_1": {
457
+ "cls": "HingeCabinet"
458
+ },
459
+ "stack_3_left_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_3_left_group_1_1": {
463
+ "cls": "HingeCabinet"
464
+ },
465
+ "dishwasher_1_left_group_1": {
466
+ "cls": "Dishwasher"
467
+ },
468
+ "cube_3_left_group_1": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_2_left_group_1_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_2_left_group_1_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "stack_1_left_group_1_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_1_left_group_1_1": {
481
+ "cls": "Drawer"
482
+ },
483
+ "stack_1_left_group_1_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_1_left_group_1_3": {
487
+ "cls": "Drawer"
488
+ },
489
+ "cube_2_left_group_1": {
490
+ "cls": "Box"
491
+ },
492
+ "cube_1_left_group_1": {
493
+ "cls": "Box"
494
+ },
495
+ "knife_block_left_group_1": {
496
+ "cls": "Accessory"
497
+ }
498
+ },
499
+ "gen_textures": {},
500
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
501
+ "fixture_refs": {
502
+ "cabinet": "hingecabinet_2_main_group_1",
503
+ "drawer": "stack_1_front_group_1_2",
504
+ "counter": "counter_2_main_group_1"
505
+ },
506
+ "cam_configs": {
507
+ "robot0_agentview_center": {
508
+ "pos": [
509
+ -0.6,
510
+ 0.0,
511
+ 1.15
512
+ ],
513
+ "quat": [
514
+ 0.636945903301239,
515
+ 0.3325185477733612,
516
+ -0.3199238181114197,
517
+ -0.6175596117973328
518
+ ],
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_left": {
522
+ "pos": [
523
+ -0.5,
524
+ 0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.55623853,
529
+ 0.29935253,
530
+ -0.37678665,
531
+ -0.6775092
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_agentview_right": {
539
+ "pos": [
540
+ -0.5,
541
+ -0.35,
542
+ 1.05
543
+ ],
544
+ "quat": [
545
+ 0.6775091886520386,
546
+ 0.3767866790294647,
547
+ -0.2993525564670563,
548
+ -0.55623859167099
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_frontview": {
556
+ "pos": [
557
+ -0.5,
558
+ 0,
559
+ 0.95
560
+ ],
561
+ "quat": [
562
+ 0.6088936924934387,
563
+ 0.3814677894115448,
564
+ -0.3673907518386841,
565
+ -0.5905545353889465
566
+ ],
567
+ "camera_attribs": {
568
+ "fovy": "60"
569
+ },
570
+ "parent_body": "mobilebase0_support"
571
+ },
572
+ "robot0_eye_in_hand": {
573
+ "pos": [
574
+ 0.05,
575
+ 0,
576
+ 0
577
+ ],
578
+ "quat": [
579
+ 0,
580
+ 0.707107,
581
+ 0.707107,
582
+ 0
583
+ ],
584
+ "parent_body": "robot0_right_hand"
585
+ }
586
+ },
587
+ "init_robot_base_pos": [
588
+ 4.938519968527385,
589
+ -0.8005893212239016,
590
+ 0.0
591
+ ],
592
+ "init_robot_base_ori": [
593
+ 0.0,
594
+ 0.0,
595
+ 1.5707963267948966
596
+ ]
597
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000064/ep_meta.json ADDED
@@ -0,0 +1,642 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.7104757033331166,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 1.081762148333442,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_1"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.7104757033331166,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 1.081762148333442,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_1"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.7104757033331166,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 1.081762148333442,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_1"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.7104757033331166,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 1.081762148333442,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_1"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_right_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "wall_accessory_1_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "wall_accessory_2_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_3_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "light_switch_1_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wall_accessory_4_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wall_accessory_5_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "window_group_room": {
262
+ "cls": "Window"
263
+ },
264
+ "stool_1_room": {
265
+ "cls": "Stool"
266
+ },
267
+ "stool_2_room": {
268
+ "cls": "Stool"
269
+ },
270
+ "stool_3_room": {
271
+ "cls": "Stool"
272
+ },
273
+ "stool_4_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_5_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "stool_6_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "counter_corner_1_main_group": {
283
+ "cls": "Counter"
284
+ },
285
+ "sink_1_main_group": {
286
+ "cls": "Sink"
287
+ },
288
+ "counter_1_main_group": {
289
+ "cls": "Counter"
290
+ },
291
+ "counter_corner_2_main_group": {
292
+ "cls": "Counter"
293
+ },
294
+ "box_1_main_group": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_1_main_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_1_main_group_1": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_1_main_group_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_1_main_group_3": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_2_main_group_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_2_main_group_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "stack_2_main_group_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_3_main_group_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_3_main_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "dishwasher_1_main_group": {
325
+ "cls": "Dishwasher"
326
+ },
327
+ "stack_4_main_group_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_4_main_group_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "stack_4_main_group_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_5_main_group_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_5_main_group_1": {
340
+ "cls": "SingleCabinet"
341
+ },
342
+ "box_2_main_group": {
343
+ "cls": "Box"
344
+ },
345
+ "top_corner_1_main_group": {
346
+ "cls": "Box"
347
+ },
348
+ "cab_1_main_group": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "cab_2_main_group": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "top_corner_2_main_group": {
355
+ "cls": "Box"
356
+ },
357
+ "paper_towel_main_group": {
358
+ "cls": "Accessory"
359
+ },
360
+ "coffee_machine_main_group": {
361
+ "cls": "CoffeeMachine"
362
+ },
363
+ "toaster_main_group": {
364
+ "cls": "Toaster"
365
+ },
366
+ "knife_block_main_group": {
367
+ "cls": "Accessory"
368
+ },
369
+ "stovetop_left_group": {
370
+ "cls": "Stovetop"
371
+ },
372
+ "counter_1_left_group": {
373
+ "cls": "Counter"
374
+ },
375
+ "box_1_left_group": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_1_left_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_1_left_group_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "stack_2_left_group_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_2_left_group_1": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_2_left_group_2": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_2_left_group_3": {
394
+ "cls": "PanelCabinet"
395
+ },
396
+ "box_3_left_group": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_3_left_group_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_3_left_group_1": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_3_left_group_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_3_left_group_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "box_2_left_group": {
412
+ "cls": "Box"
413
+ },
414
+ "fridge_1_left_group": {
415
+ "cls": "FridgeFrenchDoor"
416
+ },
417
+ "fridge_1_housing_left_group": {
418
+ "cls": "HousingCabinet"
419
+ },
420
+ "hood_left_group": {
421
+ "cls": "Hood"
422
+ },
423
+ "cab_1_left_group": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "cab_2_left_group": {
427
+ "cls": "SingleCabinet"
428
+ },
429
+ "cab_3_left_group": {
430
+ "cls": "HingeCabinet"
431
+ },
432
+ "toaster_oven_left_group": {
433
+ "cls": "ToasterOven"
434
+ },
435
+ "bottom_right_group_1_base": {
436
+ "cls": "Box"
437
+ },
438
+ "bottom_right_group_1_1": {
439
+ "cls": "Drawer"
440
+ },
441
+ "oven_right_group_1": {
442
+ "cls": "Oven"
443
+ },
444
+ "oven_housing_right_group_1": {
445
+ "cls": "HousingCabinet"
446
+ },
447
+ "microwave_right_group_1": {
448
+ "cls": "Microwave"
449
+ },
450
+ "microwave_housing_right_group_1": {
451
+ "cls": "HousingCabinet"
452
+ },
453
+ "top_right_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_1_right_group_1_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_1_right_group_1_1": {
460
+ "cls": "HingeCabinet"
461
+ },
462
+ "stack_2_right_group_1_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_2_right_group_1_1": {
466
+ "cls": "PanelCabinet"
467
+ },
468
+ "box_right_group_1": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_3_right_group_1_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_3_right_group_1_1": {
475
+ "cls": "HingeCabinet"
476
+ },
477
+ "counter_1_right_group_1": {
478
+ "cls": "Counter"
479
+ },
480
+ "cab_1_right_group_1": {
481
+ "cls": "HingeCabinet"
482
+ },
483
+ "cab_2_right_group_1": {
484
+ "cls": "SingleCabinet"
485
+ },
486
+ "cab_3_right_group_1": {
487
+ "cls": "HingeCabinet"
488
+ },
489
+ "island_island_group": {
490
+ "cls": "Counter"
491
+ },
492
+ "panel_stack_1_island_group_base": {
493
+ "cls": "Box"
494
+ },
495
+ "panel_stack_1_island_group_1": {
496
+ "cls": "PanelCabinet"
497
+ },
498
+ "stack_1_island_group_base": {
499
+ "cls": "Box"
500
+ },
501
+ "stack_1_island_group_1": {
502
+ "cls": "HingeCabinet"
503
+ },
504
+ "stack_1_island_group_2": {
505
+ "cls": "Drawer"
506
+ },
507
+ "stack_2_island_group_base": {
508
+ "cls": "Box"
509
+ },
510
+ "stack_2_island_group_1": {
511
+ "cls": "HingeCabinet"
512
+ },
513
+ "stack_2_island_group_2": {
514
+ "cls": "Drawer"
515
+ },
516
+ "stack_3_island_group_base": {
517
+ "cls": "Box"
518
+ },
519
+ "stack_3_island_group_1": {
520
+ "cls": "HingeCabinet"
521
+ },
522
+ "stack_3_island_group_2": {
523
+ "cls": "Drawer"
524
+ },
525
+ "stack_4_island_group_base": {
526
+ "cls": "Box"
527
+ },
528
+ "stack_4_island_group_1": {
529
+ "cls": "HingeCabinet"
530
+ },
531
+ "stack_4_island_group_2": {
532
+ "cls": "Drawer"
533
+ },
534
+ "panel_stack_2_island_group_base": {
535
+ "cls": "Box"
536
+ },
537
+ "panel_stack_2_island_group_1": {
538
+ "cls": "PanelCabinet"
539
+ },
540
+ "box_1_island_group": {
541
+ "cls": "Box"
542
+ }
543
+ },
544
+ "gen_textures": {},
545
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
546
+ "fixture_refs": {
547
+ "cabinet": "cab_2_left_group",
548
+ "drawer": "stack_4_main_group_2",
549
+ "counter": "counter_1_main_group"
550
+ },
551
+ "cam_configs": {
552
+ "robot0_agentview_center": {
553
+ "pos": [
554
+ -0.6,
555
+ 0.0,
556
+ 1.15
557
+ ],
558
+ "quat": [
559
+ 0.636945903301239,
560
+ 0.3325185477733612,
561
+ -0.3199238181114197,
562
+ -0.6175596117973328
563
+ ],
564
+ "parent_body": "mobilebase0_support"
565
+ },
566
+ "robot0_agentview_left": {
567
+ "pos": [
568
+ -0.5,
569
+ 0.35,
570
+ 1.05
571
+ ],
572
+ "quat": [
573
+ 0.55623853,
574
+ 0.29935253,
575
+ -0.37678665,
576
+ -0.6775092
577
+ ],
578
+ "camera_attribs": {
579
+ "fovy": "60"
580
+ },
581
+ "parent_body": "mobilebase0_support"
582
+ },
583
+ "robot0_agentview_right": {
584
+ "pos": [
585
+ -0.5,
586
+ -0.35,
587
+ 1.05
588
+ ],
589
+ "quat": [
590
+ 0.6775091886520386,
591
+ 0.3767866790294647,
592
+ -0.2993525564670563,
593
+ -0.55623859167099
594
+ ],
595
+ "camera_attribs": {
596
+ "fovy": "60"
597
+ },
598
+ "parent_body": "mobilebase0_support"
599
+ },
600
+ "robot0_frontview": {
601
+ "pos": [
602
+ -0.5,
603
+ 0,
604
+ 0.95
605
+ ],
606
+ "quat": [
607
+ 0.6088936924934387,
608
+ 0.3814677894115448,
609
+ -0.3673907518386841,
610
+ -0.5905545353889465
611
+ ],
612
+ "camera_attribs": {
613
+ "fovy": "60"
614
+ },
615
+ "parent_body": "mobilebase0_support"
616
+ },
617
+ "robot0_eye_in_hand": {
618
+ "pos": [
619
+ 0.05,
620
+ 0,
621
+ 0
622
+ ],
623
+ "quat": [
624
+ 0,
625
+ 0.707107,
626
+ 0.707107,
627
+ 0
628
+ ],
629
+ "parent_body": "robot0_right_hand"
630
+ }
631
+ },
632
+ "init_robot_base_pos": [
633
+ 3.3278584485723695,
634
+ -0.9319544431338831,
635
+ 0.0
636
+ ],
637
+ "init_robot_base_ori": [
638
+ 0.0,
639
+ 0.0,
640
+ 1.5707963267948966
641
+ ]
642
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000073/ep_meta.json ADDED
@@ -0,0 +1,636 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 20,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_main_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.312,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_main_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.312,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_main_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.312,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_main_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.312,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_front_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_front_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_front_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_front_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_front_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_front_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "wall_accessory_1_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "wall_accessory_2_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_3_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_4_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "window_group_room": {
256
+ "cls": "Window"
257
+ },
258
+ "counter_corner_main_group": {
259
+ "cls": "Counter"
260
+ },
261
+ "counter_1_main_group": {
262
+ "cls": "Counter"
263
+ },
264
+ "stove_main_group": {
265
+ "cls": "Stove"
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
+ "box_main_group": {
286
+ "cls": "Box"
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
+ "stack_6_main_group_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_6_main_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "cab_1_main_group": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "cab_2_main_group": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "cab_3_main_group": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "microwave_main_group": {
328
+ "cls": "Microwave"
329
+ },
330
+ "cab_4_main_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "cab_5_main_group": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "cab_6_main_group": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "coffee_machine_main_group": {
340
+ "cls": "CoffeeMachine"
341
+ },
342
+ "paper_towel_main_group": {
343
+ "cls": "Accessory"
344
+ },
345
+ "counter_corner_1_left_group": {
346
+ "cls": "Counter"
347
+ },
348
+ "sink_1_left_group": {
349
+ "cls": "Sink"
350
+ },
351
+ "counter_1_left_group": {
352
+ "cls": "Counter"
353
+ },
354
+ "box_1_left_group": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_left_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "dishwasher_1_left_group": {
364
+ "cls": "Dishwasher"
365
+ },
366
+ "stack_2_left_group_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_left_group_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_3_left_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_3_left_group_1": {
376
+ "cls": "SingleCabinet"
377
+ },
378
+ "box_2_left_group": {
379
+ "cls": "Box"
380
+ },
381
+ "cab_1_left_group": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "cab_2_left_group": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "cab_3_left_group": {
388
+ "cls": "SingleCabinet"
389
+ },
390
+ "cab_corner_left_group": {
391
+ "cls": "Box"
392
+ },
393
+ "knife_block_left_group": {
394
+ "cls": "Accessory"
395
+ },
396
+ "island_island_group_1": {
397
+ "cls": "Counter"
398
+ },
399
+ "panel_stack_1_island_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "panel_stack_1_island_group_1_1": {
403
+ "cls": "PanelCabinet"
404
+ },
405
+ "stack_1_island_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_1_island_group_1_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_2_island_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_2_island_group_1_1": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "stack_3_island_group_1_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_3_island_group_1_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "panel_stack_2_island_group_1_base": {
424
+ "cls": "Box"
425
+ },
426
+ "panel_stack_2_island_group_1_1": {
427
+ "cls": "PanelCabinet"
428
+ },
429
+ "plant_island_group_1": {
430
+ "cls": "Accessory"
431
+ },
432
+ "counter_1_island_group_2": {
433
+ "cls": "Counter"
434
+ },
435
+ "panel_stack_1_island_group_2_base": {
436
+ "cls": "Box"
437
+ },
438
+ "panel_stack_1_island_group_2_1": {
439
+ "cls": "PanelCabinet"
440
+ },
441
+ "stack_1_island_group_2_base": {
442
+ "cls": "Box"
443
+ },
444
+ "stack_1_island_group_2_1": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_1_island_group_2_2": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_2_island_group_2_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_2_island_group_2_1": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_2_island_group_2_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_3_island_group_2_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_3_island_group_2_1": {
463
+ "cls": "Drawer"
464
+ },
465
+ "stack_3_island_group_2_2": {
466
+ "cls": "Drawer"
467
+ },
468
+ "panel_stack_2_island_group_2_base": {
469
+ "cls": "Box"
470
+ },
471
+ "panel_stack_2_island_group_2_1": {
472
+ "cls": "PanelCabinet"
473
+ },
474
+ "counter_1_front_group_1": {
475
+ "cls": "Counter"
476
+ },
477
+ "fridge_1_front_group_1": {
478
+ "cls": "FridgeFrenchDoor"
479
+ },
480
+ "fridge_1_housing_front_group_1": {
481
+ "cls": "HousingCabinet"
482
+ },
483
+ "stack_1_front_group_1_base": {
484
+ "cls": "Box"
485
+ },
486
+ "stack_1_front_group_1_1": {
487
+ "cls": "HingeCabinet"
488
+ },
489
+ "box_front_group_1": {
490
+ "cls": "Box"
491
+ },
492
+ "cab_1_front_group_1": {
493
+ "cls": "HingeCabinet"
494
+ },
495
+ "cab_2_front_group_1": {
496
+ "cls": "SingleCabinet"
497
+ },
498
+ "cab_3_front_group_1": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "toaster_front_group_1": {
502
+ "cls": "Toaster"
503
+ },
504
+ "counter_1_front_group_2": {
505
+ "cls": "Counter"
506
+ },
507
+ "stack_1_front_group_2_base": {
508
+ "cls": "Box"
509
+ },
510
+ "stack_1_front_group_2_1": {
511
+ "cls": "SingleCabinet"
512
+ },
513
+ "stack_2_front_group_2_base": {
514
+ "cls": "Box"
515
+ },
516
+ "stack_2_front_group_2_1": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "stack_3_front_group_2_base": {
520
+ "cls": "Box"
521
+ },
522
+ "stack_3_front_group_2_1": {
523
+ "cls": "SingleCabinet"
524
+ },
525
+ "cab_1_front_group_2": {
526
+ "cls": "HingeCabinet"
527
+ },
528
+ "cab_2_front_group_2": {
529
+ "cls": "HingeCabinet"
530
+ },
531
+ "cab_3_front_group_2": {
532
+ "cls": "HingeCabinet"
533
+ },
534
+ "toaster_oven_front_group_2": {
535
+ "cls": "ToasterOven"
536
+ }
537
+ },
538
+ "gen_textures": {},
539
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
540
+ "fixture_refs": {
541
+ "cabinet": "cab_1_left_group",
542
+ "drawer": "stack_3_main_group_2",
543
+ "counter": "counter_2_main_group"
544
+ },
545
+ "cam_configs": {
546
+ "robot0_agentview_center": {
547
+ "pos": [
548
+ -0.6,
549
+ 0.0,
550
+ 1.15
551
+ ],
552
+ "quat": [
553
+ 0.636945903301239,
554
+ 0.3325185477733612,
555
+ -0.3199238181114197,
556
+ -0.6175596117973328
557
+ ],
558
+ "parent_body": "mobilebase0_support"
559
+ },
560
+ "robot0_agentview_left": {
561
+ "pos": [
562
+ -0.5,
563
+ 0.35,
564
+ 1.05
565
+ ],
566
+ "quat": [
567
+ 0.55623853,
568
+ 0.29935253,
569
+ -0.37678665,
570
+ -0.6775092
571
+ ],
572
+ "camera_attribs": {
573
+ "fovy": "60"
574
+ },
575
+ "parent_body": "mobilebase0_support"
576
+ },
577
+ "robot0_agentview_right": {
578
+ "pos": [
579
+ -0.5,
580
+ -0.35,
581
+ 1.05
582
+ ],
583
+ "quat": [
584
+ 0.6775091886520386,
585
+ 0.3767866790294647,
586
+ -0.2993525564670563,
587
+ -0.55623859167099
588
+ ],
589
+ "camera_attribs": {
590
+ "fovy": "60"
591
+ },
592
+ "parent_body": "mobilebase0_support"
593
+ },
594
+ "robot0_frontview": {
595
+ "pos": [
596
+ -0.5,
597
+ 0,
598
+ 0.95
599
+ ],
600
+ "quat": [
601
+ 0.6088936924934387,
602
+ 0.3814677894115448,
603
+ -0.3673907518386841,
604
+ -0.5905545353889465
605
+ ],
606
+ "camera_attribs": {
607
+ "fovy": "60"
608
+ },
609
+ "parent_body": "mobilebase0_support"
610
+ },
611
+ "robot0_eye_in_hand": {
612
+ "pos": [
613
+ 0.05,
614
+ 0,
615
+ 0
616
+ ],
617
+ "quat": [
618
+ 0,
619
+ 0.707107,
620
+ 0.707107,
621
+ 0
622
+ ],
623
+ "parent_body": "robot0_right_hand"
624
+ }
625
+ },
626
+ "init_robot_base_pos": [
627
+ 3.6168352645803474,
628
+ -0.7728053142231168,
629
+ 0.0
630
+ ],
631
+ "init_robot_base_ori": [
632
+ 0.0,
633
+ 0.0,
634
+ 1.5707963267948966
635
+ ]
636
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000074/ep_meta.json ADDED
@@ -0,0 +1,564 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 50,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_front_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.1416567478749715,
43
+ 1.300035
44
+ ],
45
+ "offset": [
46
+ 1.0813876260625142,
47
+ 2.0816681711721685e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_1"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_front_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.1416567478749715,
91
+ 1.300035
92
+ ],
93
+ "offset": [
94
+ 1.0813876260625142,
95
+ 2.0816681711721685e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_1"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_front_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.1416567478749715,
143
+ 1.300035
144
+ ],
145
+ "offset": [
146
+ 1.0813876260625142,
147
+ 2.0816681711721685e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_1"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_front_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.1416567478749715,
195
+ 1.300035
196
+ ],
197
+ "offset": [
198
+ 1.0813876260625142,
199
+ 2.0816681711721685e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_1"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_right_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_right_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_3_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_3_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_main_2_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_main_2_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_2_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_2_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "wallaccessory_06_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "lightswitch_01_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory_03_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory_04_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
+ "stool_4_room": {
271
+ "cls": "Stool"
272
+ },
273
+ "stool_5_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_6_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "dining_dining_area_group": {
280
+ "cls": "Counter"
281
+ },
282
+ "cube_1_dining_area_group": {
283
+ "cls": "Box"
284
+ },
285
+ "cube_2_dining_area_group": {
286
+ "cls": "Box"
287
+ },
288
+ "fridgefrenchdoor_main_group_1": {
289
+ "cls": "FridgeFrenchDoor"
290
+ },
291
+ "fridgefrenchdoor_housing_main_group_1": {
292
+ "cls": "HousingCabinet"
293
+ },
294
+ "bottom_main_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "bottom_main_group_1_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "microwave_main_group_1": {
301
+ "cls": "Microwave"
302
+ },
303
+ "hingecabinet_02_main_group_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "oven_cabinet_main_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "microwave_housing_main_group_1": {
310
+ "cls": "HousingCabinet"
311
+ },
312
+ "top_main_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "hingecabinet_01_main_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "singlecabinet_1_main_group_1": {
319
+ "cls": "SingleCabinet"
320
+ },
321
+ "singlecabinet_2_main_group_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "counter_2_main_group_1": {
325
+ "cls": "Counter"
326
+ },
327
+ "counter_1_main_group_1": {
328
+ "cls": "Counter"
329
+ },
330
+ "stove_main_group_1": {
331
+ "cls": "Stove"
332
+ },
333
+ "stove_hood_main_group_1": {
334
+ "cls": "Hood"
335
+ },
336
+ "stack_01_main_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_01_main_group_1_1": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_01_main_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_01_main_group_1_3": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_02_main_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_02_main_group_1_1": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_02_main_group_1_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_02_main_group_1_3": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_03_main_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_03_main_group_1_1": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "stack_03_main_group_1_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "coffee_machine_main_group_1": {
370
+ "cls": "CoffeeMachine"
371
+ },
372
+ "toaster_main_group_1": {
373
+ "cls": "Toaster"
374
+ },
375
+ "toaster_oven_main_group_1": {
376
+ "cls": "ToasterOven"
377
+ },
378
+ "sink_front_group_1": {
379
+ "cls": "Sink"
380
+ },
381
+ "counter_2_front_group_1": {
382
+ "cls": "Counter"
383
+ },
384
+ "stack_05_front_group_1_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_05_front_group_1_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "stack_05_front_group_1_2": {
391
+ "cls": "PanelCabinet"
392
+ },
393
+ "stack_08_front_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_08_front_group_1_1": {
397
+ "cls": "HingeCabinet"
398
+ },
399
+ "stack_08_front_group_1_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_06_front_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_06_front_group_1_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "stack_04_front_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_04_front_group_1_1": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "stack_04_front_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "dishwasher_1_front_group_1": {
418
+ "cls": "Dishwasher"
419
+ },
420
+ "stack_12_front_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_12_front_group_1_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "stack_12_front_group_1_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "plant_front_group_1": {
430
+ "cls": "Accessory"
431
+ },
432
+ "paper_towel_front_group_1": {
433
+ "cls": "Accessory"
434
+ },
435
+ "cube_1_front_group_2": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_11_front_group_2_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_11_front_group_2_1": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "stack_10_front_group_2_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_10_front_group_2_1": {
448
+ "cls": "HingeCabinet"
449
+ },
450
+ "stack_09_front_group_2_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_09_front_group_2_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "cube_2_front_group_2": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_13_front_group_2_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_13_front_group_2_1": {
463
+ "cls": "SingleCabinet"
464
+ }
465
+ },
466
+ "gen_textures": {},
467
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
468
+ "fixture_refs": {
469
+ "cabinet": "hingecabinet_01_main_group_1",
470
+ "drawer": "stack_03_main_group_1_2",
471
+ "counter": "counter_2_front_group_1"
472
+ },
473
+ "cam_configs": {
474
+ "robot0_agentview_center": {
475
+ "pos": [
476
+ -0.6,
477
+ 0.0,
478
+ 1.15
479
+ ],
480
+ "quat": [
481
+ 0.636945903301239,
482
+ 0.3325185477733612,
483
+ -0.3199238181114197,
484
+ -0.6175596117973328
485
+ ],
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_agentview_left": {
489
+ "pos": [
490
+ -0.5,
491
+ 0.35,
492
+ 1.05
493
+ ],
494
+ "quat": [
495
+ 0.55623853,
496
+ 0.29935253,
497
+ -0.37678665,
498
+ -0.6775092
499
+ ],
500
+ "camera_attribs": {
501
+ "fovy": "60"
502
+ },
503
+ "parent_body": "mobilebase0_support"
504
+ },
505
+ "robot0_agentview_right": {
506
+ "pos": [
507
+ -0.5,
508
+ -0.35,
509
+ 1.05
510
+ ],
511
+ "quat": [
512
+ 0.6775091886520386,
513
+ 0.3767866790294647,
514
+ -0.2993525564670563,
515
+ -0.55623859167099
516
+ ],
517
+ "camera_attribs": {
518
+ "fovy": "60"
519
+ },
520
+ "parent_body": "mobilebase0_support"
521
+ },
522
+ "robot0_frontview": {
523
+ "pos": [
524
+ -0.5,
525
+ 0,
526
+ 0.95
527
+ ],
528
+ "quat": [
529
+ 0.6088936924934387,
530
+ 0.3814677894115448,
531
+ -0.3673907518386841,
532
+ -0.5905545353889465
533
+ ],
534
+ "camera_attribs": {
535
+ "fovy": "60"
536
+ },
537
+ "parent_body": "mobilebase0_support"
538
+ },
539
+ "robot0_eye_in_hand": {
540
+ "pos": [
541
+ 0.05,
542
+ 0,
543
+ 0
544
+ ],
545
+ "quat": [
546
+ 0,
547
+ 0.707107,
548
+ 0.707107,
549
+ 0
550
+ ],
551
+ "parent_body": "robot0_right_hand"
552
+ }
553
+ },
554
+ "init_robot_base_pos": [
555
+ 3.033293677988795,
556
+ -2.710125023982562,
557
+ 0.0
558
+ ],
559
+ "init_robot_base_ori": [
560
+ 0.0,
561
+ 0.0,
562
+ 4.712230463812298
563
+ ]
564
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000075/ep_meta.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 60,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 0.8385660106143343,
43
+ 0.650008
44
+ ],
45
+ "offset": [
46
+ 0.5013194946928328,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 0.8385660106143343,
91
+ 0.650008
92
+ ],
93
+ "offset": [
94
+ 0.5013194946928328,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 0.8385660106143343,
143
+ 0.650008
144
+ ],
145
+ "offset": [
146
+ 0.5013194946928328,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.8385660106143343,
195
+ 0.650008
196
+ ],
197
+ "offset": [
198
+ 0.5013194946928328,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_left_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_2_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_right_2_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_right_3_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_right_3_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "floor_1_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_1_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "floor_2_room": {
250
+ "cls": "Floor"
251
+ },
252
+ "floor_2_backing_room": {
253
+ "cls": "Floor"
254
+ },
255
+ "wallaccessory.001_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory.005_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wallaccessory_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "wallaccessory.003_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "wallaccessory.004_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "wallaccessory.002_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "window_group_1_room": {
274
+ "cls": "Window"
275
+ },
276
+ "window_group_2_room": {
277
+ "cls": "Window"
278
+ },
279
+ "stool_1_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "stool_2_room": {
283
+ "cls": "Stool"
284
+ },
285
+ "stool_3_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "counter_corner_1_main_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "sink_main_group_1": {
292
+ "cls": "Sink"
293
+ },
294
+ "counter_1_main_group_1": {
295
+ "cls": "Counter"
296
+ },
297
+ "singlecabinet_1_main_group_1": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "cube_main_group_1": {
301
+ "cls": "Box"
302
+ },
303
+ "singlecabinet_2_main_group_1": {
304
+ "cls": "SingleCabinet"
305
+ },
306
+ "hingecabinet_1_main_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_1_main_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_1_main_group_1_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "cube_1_main_group_1": {
316
+ "cls": "Box"
317
+ },
318
+ "dishwasher_1_main_group_1": {
319
+ "cls": "Dishwasher"
320
+ },
321
+ "fridgesidebyside_main_group_1": {
322
+ "cls": "FridgeSideBySide"
323
+ },
324
+ "fridgesidebyside_housing_main_group_1": {
325
+ "cls": "HousingCabinet"
326
+ },
327
+ "toaster_main_group_1": {
328
+ "cls": "Toaster"
329
+ },
330
+ "papertowel_main_group_1": {
331
+ "cls": "Accessory"
332
+ },
333
+ "counter_1_left_group_1": {
334
+ "cls": "Counter"
335
+ },
336
+ "stove_left_group_1": {
337
+ "cls": "Stove"
338
+ },
339
+ "microwave_left_group_1": {
340
+ "cls": "Microwave"
341
+ },
342
+ "micro_cab_left_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "counter_2_left_group_1": {
346
+ "cls": "Counter"
347
+ },
348
+ "singlecabinet_1_left_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "hingecabinet_1_left_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "cube_3_left_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "cube_4_left_group_1": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_1_left_group_1_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "stack_1_left_group_1_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_2_left_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_2_left_group_1_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "stack_2_left_group_1_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "cube_1_left_group_1": {
379
+ "cls": "Box"
380
+ },
381
+ "cube_2_left_group_1": {
382
+ "cls": "Box"
383
+ },
384
+ "coffee_machine_left_group_1": {
385
+ "cls": "CoffeeMachine"
386
+ },
387
+ "island_island_group_1": {
388
+ "cls": "Counter"
389
+ },
390
+ "cube_island_group_1": {
391
+ "cls": "Box"
392
+ },
393
+ "cube_2_island_group_1": {
394
+ "cls": "Box"
395
+ },
396
+ "cube_3_island_group_1": {
397
+ "cls": "Box"
398
+ },
399
+ "cube_4_island_group_1": {
400
+ "cls": "Box"
401
+ }
402
+ },
403
+ "gen_textures": {},
404
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
405
+ "fixture_refs": {
406
+ "cabinet": "singlecabinet_1_left_group_1",
407
+ "drawer": "stack_2_left_group_1_2",
408
+ "counter": "counter_1_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
+ 3.8820775646037062,
493
+ -0.7835471812459732,
494
+ 0.0
495
+ ],
496
+ "init_robot_base_ori": [
497
+ 0.0,
498
+ 0.0,
499
+ 1.5707963267948966
500
+ ]
501
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000076/ep_meta.json ADDED
@@ -0,0 +1,573 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 30,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_right_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.296649546076814,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 1.1766752269615939,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_1"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_right_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.296649546076814,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 1.1766752269615939,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_1"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_right_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.296649546076814,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 1.1766752269615939,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_1"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_right_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.296649546076814,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 1.1766752269615939,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_1"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_3_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_3_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_1_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_1_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_left_4_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_left_4_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_left_5_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_5_backing_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_right_3_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_3_backing_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_2_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_right_2_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_right_4_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_4_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "floor_1_room": {
268
+ "cls": "Floor"
269
+ },
270
+ "floor_1_backing_room": {
271
+ "cls": "Floor"
272
+ },
273
+ "floor_2_room": {
274
+ "cls": "Floor"
275
+ },
276
+ "floor_2_backing_room": {
277
+ "cls": "Floor"
278
+ },
279
+ "wall_accessory_1_room": {
280
+ "cls": "WallAccessory"
281
+ },
282
+ "wall_accessory_2_room": {
283
+ "cls": "WallAccessory"
284
+ },
285
+ "wall_accessory_3_room": {
286
+ "cls": "WallAccessory"
287
+ },
288
+ "light_switch_1_room": {
289
+ "cls": "WallAccessory"
290
+ },
291
+ "light_switch_2_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "stool_1_room": {
295
+ "cls": "Stool"
296
+ },
297
+ "stool_2_room": {
298
+ "cls": "Stool"
299
+ },
300
+ "stool_3_room": {
301
+ "cls": "Stool"
302
+ },
303
+ "counter_1_main_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "stove_main_group_1": {
307
+ "cls": "Stove"
308
+ },
309
+ "counter_corner_main_group_1": {
310
+ "cls": "Counter"
311
+ },
312
+ "stack_1_main_group_1_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_1_main_group_1_1": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "fridge_1_main_group_1": {
319
+ "cls": "FridgeFrenchDoor"
320
+ },
321
+ "fridge_1_housing_main_group_1": {
322
+ "cls": "HousingCabinet"
323
+ },
324
+ "fridge_top_main_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "cab_1_main_group_1": {
328
+ "cls": "SingleCabinet"
329
+ },
330
+ "cab_corner_main_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "microwave_main_group_1": {
334
+ "cls": "Microwave"
335
+ },
336
+ "cab_2_main_group_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "cab_3_main_group_1": {
340
+ "cls": "SingleCabinet"
341
+ },
342
+ "paper_towel_main_group_1": {
343
+ "cls": "Accessory"
344
+ },
345
+ "sink_1_right_group_1": {
346
+ "cls": "Sink"
347
+ },
348
+ "counter_1_right_group_1": {
349
+ "cls": "Counter"
350
+ },
351
+ "box_1_right_group_1": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_1_right_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_right_group_1_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "stack_1_right_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_1_right_group_1_3": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_2_right_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_right_group_1_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_2_right_group_1_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_2_right_group_1_3": {
376
+ "cls": "Drawer"
377
+ },
378
+ "stack_3_right_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_3_right_group_1_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "stack_3_right_group_1_2": {
385
+ "cls": "PanelCabinet"
386
+ },
387
+ "stack_4_right_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_4_right_group_1_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "stack_4_right_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_4_right_group_1_3": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_5_right_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_5_right_group_1_1": {
403
+ "cls": "HingeCabinet"
404
+ },
405
+ "stack_5_right_group_1_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_5_right_group_1_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "dishwasher_right_group_1": {
412
+ "cls": "Dishwasher"
413
+ },
414
+ "panel_stack_right_group_1_base": {
415
+ "cls": "Box"
416
+ },
417
+ "panel_stack_right_group_1_1": {
418
+ "cls": "PanelCabinet"
419
+ },
420
+ "cab_1_right_group_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "cab_2_right_group_1": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "coffee_machine_right_group_1": {
427
+ "cls": "CoffeeMachine"
428
+ },
429
+ "toaster_oven_right_group_1": {
430
+ "cls": "ToasterOven"
431
+ },
432
+ "toaster_right_group_1": {
433
+ "cls": "Toaster"
434
+ },
435
+ "island_island_group": {
436
+ "cls": "Counter"
437
+ },
438
+ "stack_1_island_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_1_island_group_1": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_1_island_group_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "box_1_island_group": {
448
+ "cls": "Box"
449
+ },
450
+ "box_2_island_group": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_2_island_group_base": {
454
+ "cls": "Box"
455
+ },
456
+ "stack_2_island_group_1": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_2_island_group_2": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_2_island_group_3": {
463
+ "cls": "Drawer"
464
+ },
465
+ "stack_3_island_group_base": {
466
+ "cls": "Box"
467
+ },
468
+ "stack_3_island_group_1": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_3_island_group_2": {
472
+ "cls": "Drawer"
473
+ }
474
+ },
475
+ "gen_textures": {},
476
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
477
+ "fixture_refs": {
478
+ "cabinet": "cab_3_main_group_1",
479
+ "drawer": "stack_4_right_group_1_3",
480
+ "counter": "counter_1_right_group_1"
481
+ },
482
+ "cam_configs": {
483
+ "robot0_agentview_center": {
484
+ "pos": [
485
+ -0.6,
486
+ 0.0,
487
+ 1.15
488
+ ],
489
+ "quat": [
490
+ 0.636945903301239,
491
+ 0.3325185477733612,
492
+ -0.3199238181114197,
493
+ -0.6175596117973328
494
+ ],
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_agentview_left": {
498
+ "pos": [
499
+ -0.5,
500
+ 0.35,
501
+ 1.05
502
+ ],
503
+ "quat": [
504
+ 0.55623853,
505
+ 0.29935253,
506
+ -0.37678665,
507
+ -0.6775092
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_agentview_right": {
515
+ "pos": [
516
+ -0.5,
517
+ -0.35,
518
+ 1.05
519
+ ],
520
+ "quat": [
521
+ 0.6775091886520386,
522
+ 0.3767866790294647,
523
+ -0.2993525564670563,
524
+ -0.55623859167099
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_frontview": {
532
+ "pos": [
533
+ -0.5,
534
+ 0,
535
+ 0.95
536
+ ],
537
+ "quat": [
538
+ 0.6088936924934387,
539
+ 0.3814677894115448,
540
+ -0.3673907518386841,
541
+ -0.5905545353889465
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_eye_in_hand": {
549
+ "pos": [
550
+ 0.05,
551
+ 0,
552
+ 0
553
+ ],
554
+ "quat": [
555
+ 0,
556
+ 0.707107,
557
+ 0.707107,
558
+ 0
559
+ ],
560
+ "parent_body": "robot0_right_hand"
561
+ }
562
+ },
563
+ "init_robot_base_pos": [
564
+ 2.210497376328537,
565
+ -4.12965515840341,
566
+ 0.0
567
+ ],
568
+ "init_robot_base_ori": [
569
+ 0.0,
570
+ 0.0,
571
+ 3.422854288892552e-08
572
+ ]
573
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000078/ep_meta.json ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 32,
3
+ "style_id": 37,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "island_island_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.38484,
43
+ 0.96
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.38484,
91
+ 0.96
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "island_island_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.38484,
143
+ 0.96
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "island_island_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_17/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.38484,
195
+ 0.96
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "floor_1_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "floor_1_backing_room": {
235
+ "cls": "Floor"
236
+ },
237
+ "floor_2_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_2_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "window_group_room": {
244
+ "cls": "Window"
245
+ },
246
+ "stool_1_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_2_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stool_3_room": {
253
+ "cls": "Stool"
254
+ },
255
+ "sink_main_group_1": {
256
+ "cls": "Sink"
257
+ },
258
+ "counter_1_main_group_1": {
259
+ "cls": "Counter"
260
+ },
261
+ "counter_corner_1_main_group_1": {
262
+ "cls": "Counter"
263
+ },
264
+ "opencabinet_1_main_group_1": {
265
+ "cls": "OpenCabinet"
266
+ },
267
+ "stack_1_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_1_main_group_1_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "stack_2_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_2_main_group_1_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "stack_2_main_group_1_2": {
280
+ "cls": "PanelCabinet"
281
+ },
282
+ "cube_1_main_group_1": {
283
+ "cls": "Box"
284
+ },
285
+ "cube_2_main_group_1": {
286
+ "cls": "Box"
287
+ },
288
+ "cube_3_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "dishwasher_1_main_group_1": {
292
+ "cls": "Dishwasher"
293
+ },
294
+ "knifeblock_main_group_1": {
295
+ "cls": "Accessory"
296
+ },
297
+ "toaster_main_group_1": {
298
+ "cls": "Toaster"
299
+ },
300
+ "counter_1_right_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "widestove_right_group_1": {
304
+ "cls": "Stove"
305
+ },
306
+ "widestove_hood_right_group_1": {
307
+ "cls": "Hood"
308
+ },
309
+ "singlecabinet_1_right_group_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "singlecabinet_2_right_group_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "singlecabinet_3_right_group_1": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "bottom_right_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "bottom_right_group_1_1": {
322
+ "cls": "Drawer"
323
+ },
324
+ "microwave_right_group_1": {
325
+ "cls": "Microwave"
326
+ },
327
+ "counter_2_right_group_1": {
328
+ "cls": "Counter"
329
+ },
330
+ "fridgesidebyside_right_group_1": {
331
+ "cls": "FridgeSideBySide"
332
+ },
333
+ "fridgesidebyside_housing_right_group_1": {
334
+ "cls": "HousingCabinet"
335
+ },
336
+ "hingecabinet_1_right_group_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "oven_cabinet_right_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "microwave_housing_right_group_1": {
343
+ "cls": "HousingCabinet"
344
+ },
345
+ "top_right_group_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cube_1_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "cube_2_right_group_1": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_1_right_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_right_group_1_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "stack_1_right_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_2_right_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_2_right_group_1_1": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_2_right_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_right_group_1_3": {
373
+ "cls": "Drawer"
374
+ },
375
+ "coffee_machine_right_group_1": {
376
+ "cls": "CoffeeMachine"
377
+ },
378
+ "island_island_group_1": {
379
+ "cls": "Counter"
380
+ },
381
+ "cube_1_island_group_1": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_island_group_1_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_3_island_group_1_1": {
388
+ "cls": "PanelCabinet"
389
+ },
390
+ "stack_1_island_group_1_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_1_island_group_1_1": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_1_island_group_1_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_1_island_group_1_3": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_4_island_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_4_island_group_1_1": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "stack_2_island_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_2_island_group_1_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_island_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_2_island_group_1_3": {
418
+ "cls": "Drawer"
419
+ },
420
+ "papertowel_island_group_1": {
421
+ "cls": "Accessory"
422
+ },
423
+ "plant_island_group_1": {
424
+ "cls": "Accessory"
425
+ }
426
+ },
427
+ "gen_textures": {},
428
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
429
+ "fixture_refs": {
430
+ "cabinet": "singlecabinet_1_right_group_1",
431
+ "drawer": "stack_1_right_group_1_2",
432
+ "counter": "island_island_group_1"
433
+ },
434
+ "cam_configs": {
435
+ "robot0_agentview_center": {
436
+ "pos": [
437
+ -0.6,
438
+ 0.0,
439
+ 1.15
440
+ ],
441
+ "quat": [
442
+ 0.636945903301239,
443
+ 0.3325185477733612,
444
+ -0.3199238181114197,
445
+ -0.6175596117973328
446
+ ],
447
+ "parent_body": "mobilebase0_support"
448
+ },
449
+ "robot0_agentview_left": {
450
+ "pos": [
451
+ -0.5,
452
+ 0.35,
453
+ 1.05
454
+ ],
455
+ "quat": [
456
+ 0.55623853,
457
+ 0.29935253,
458
+ -0.37678665,
459
+ -0.6775092
460
+ ],
461
+ "camera_attribs": {
462
+ "fovy": "60"
463
+ },
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_right": {
467
+ "pos": [
468
+ -0.5,
469
+ -0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.6775091886520386,
474
+ 0.3767866790294647,
475
+ -0.2993525564670563,
476
+ -0.55623859167099
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_frontview": {
484
+ "pos": [
485
+ -0.5,
486
+ 0,
487
+ 0.95
488
+ ],
489
+ "quat": [
490
+ 0.6088936924934387,
491
+ 0.3814677894115448,
492
+ -0.3673907518386841,
493
+ -0.5905545353889465
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_eye_in_hand": {
501
+ "pos": [
502
+ 0.05,
503
+ 0,
504
+ 0
505
+ ],
506
+ "quat": [
507
+ 0,
508
+ 0.707107,
509
+ 0.707107,
510
+ 0
511
+ ],
512
+ "parent_body": "robot0_right_hand"
513
+ }
514
+ },
515
+ "init_robot_base_pos": [
516
+ 2.318259133841312,
517
+ -3.683544562091666,
518
+ 0.0
519
+ ],
520
+ "init_robot_base_ori": [
521
+ 0.0,
522
+ 0.0,
523
+ 3.14159329371052
524
+ ]
525
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000079/ep_meta.json ADDED
@@ -0,0 +1,705 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 33,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_front_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 3.25,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_front_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 3.25,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_front_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 3.25,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_front_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_13/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 3.25,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_2_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_main_2_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_front_1_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_front_1_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_front_5_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_front_5_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_right_5_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_right_5_backing_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_front_4_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_front_4_backing_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_4_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_right_4_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_right_3_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_3_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_front_3_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_front_3_backing_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_front_2_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_front_2_backing_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "wall_front_6_room": {
280
+ "cls": "Wall"
281
+ },
282
+ "wall_front_6_backing_room": {
283
+ "cls": "Wall"
284
+ },
285
+ "wall_front_7_room": {
286
+ "cls": "Wall"
287
+ },
288
+ "wall_front_7_backing_room": {
289
+ "cls": "Wall"
290
+ },
291
+ "floor_1_room": {
292
+ "cls": "Floor"
293
+ },
294
+ "floor_1_backing_room": {
295
+ "cls": "Floor"
296
+ },
297
+ "floor_2_room": {
298
+ "cls": "Floor"
299
+ },
300
+ "floor_2_backing_room": {
301
+ "cls": "Floor"
302
+ },
303
+ "floor_3_room": {
304
+ "cls": "Floor"
305
+ },
306
+ "floor_3_backing_room": {
307
+ "cls": "Floor"
308
+ },
309
+ "wallaccessory_2_room": {
310
+ "cls": "WallAccessory"
311
+ },
312
+ "wallaccessory_1_room": {
313
+ "cls": "WallAccessory"
314
+ },
315
+ "wallaccessory_4_room": {
316
+ "cls": "WallAccessory"
317
+ },
318
+ "wallaccessory_3_room": {
319
+ "cls": "WallAccessory"
320
+ },
321
+ "lightswitch_room": {
322
+ "cls": "WallAccessory"
323
+ },
324
+ "wallaccessory_5_room": {
325
+ "cls": "WallAccessory"
326
+ },
327
+ "wallaccessory_6.001_room": {
328
+ "cls": "WallAccessory"
329
+ },
330
+ "window_group_room": {
331
+ "cls": "Window"
332
+ },
333
+ "sink_main_group_1": {
334
+ "cls": "Sink"
335
+ },
336
+ "counter_1_main_group_1": {
337
+ "cls": "Counter"
338
+ },
339
+ "fridgefrenchdoor_main_group_1": {
340
+ "cls": "FridgeFrenchDoor"
341
+ },
342
+ "fridgefrenchdoor_housing_main_group_1": {
343
+ "cls": "HousingCabinet"
344
+ },
345
+ "hingecabinet_1_main_group_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "singlecabinet_5_main_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "singlecabinet_4_main_group_1": {
352
+ "cls": "SingleCabinet"
353
+ },
354
+ "singlecabinet_1_main_group_1": {
355
+ "cls": "SingleCabinet"
356
+ },
357
+ "singlecabinet_2_main_group_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "singlecabinet_3_main_group_1": {
361
+ "cls": "SingleCabinet"
362
+ },
363
+ "stack_1_main_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_1_main_group_1_1": {
367
+ "cls": "SingleCabinet"
368
+ },
369
+ "stack_1_main_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_main_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_2_main_group_1_1": {
376
+ "cls": "SingleCabinet"
377
+ },
378
+ "stack_2_main_group_1_2": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_3_main_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_main_group_1_1": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_3_main_group_1_2": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_3_main_group_1_3": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_4_main_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_4_main_group_1_1": {
397
+ "cls": "SingleCabinet"
398
+ },
399
+ "stack_4_main_group_1_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "cube_1_main_group_1": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_5_main_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_5_main_group_1_1": {
409
+ "cls": "SingleCabinet"
410
+ },
411
+ "stack_5_main_group_1_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_6_main_group_1_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_6_main_group_1_1": {
418
+ "cls": "SingleCabinet"
419
+ },
420
+ "stack_6_main_group_1_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_7_main_group_1_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_7_main_group_1_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "stack_7_main_group_1_2": {
430
+ "cls": "PanelCabinet"
431
+ },
432
+ "dishwasher_1_main_group_1": {
433
+ "cls": "Dishwasher"
434
+ },
435
+ "toaster_main_group_1": {
436
+ "cls": "Toaster"
437
+ },
438
+ "knifeblock_main_group_1": {
439
+ "cls": "Accessory"
440
+ },
441
+ "papertowel_main_group_1": {
442
+ "cls": "Accessory"
443
+ },
444
+ "stovetop_island_group_1": {
445
+ "cls": "Stovetop"
446
+ },
447
+ "island_island_group_1": {
448
+ "cls": "Counter"
449
+ },
450
+ "stack_1_island_group_1_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_1_island_group_1_1": {
454
+ "cls": "SingleCabinet"
455
+ },
456
+ "stack_1_island_group_1_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_2_island_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_2_island_group_1_1": {
463
+ "cls": "SingleCabinet"
464
+ },
465
+ "stack_2_island_group_1_2": {
466
+ "cls": "Drawer"
467
+ },
468
+ "stack_3_island_group_1_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_3_island_group_1_1": {
472
+ "cls": "SingleCabinet"
473
+ },
474
+ "stack_3_island_group_1_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_4_island_group_1_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_4_island_group_1_1": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "stack_4_island_group_1_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_5_island_group_2.001_base": {
487
+ "cls": "Box"
488
+ },
489
+ "stack_5_island_group_2.001_1": {
490
+ "cls": "SingleCabinet"
491
+ },
492
+ "stack_5_island_group_2.001_2": {
493
+ "cls": "Drawer"
494
+ },
495
+ "stack_6_island_group_2.001_base": {
496
+ "cls": "Box"
497
+ },
498
+ "stack_6_island_group_2.001_1": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "stack_6_island_group_2.001_2": {
502
+ "cls": "Drawer"
503
+ },
504
+ "stack_7_island_group_2.001_base": {
505
+ "cls": "Box"
506
+ },
507
+ "stack_7_island_group_2.001_1": {
508
+ "cls": "SingleCabinet"
509
+ },
510
+ "stack_7_island_group_2.001_2": {
511
+ "cls": "Drawer"
512
+ },
513
+ "stack_8_island_group_2.001_base": {
514
+ "cls": "Box"
515
+ },
516
+ "stack_8_island_group_2.001_1": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "stack_8_island_group_2.001_2": {
520
+ "cls": "Drawer"
521
+ },
522
+ "counter_1_front_group_1": {
523
+ "cls": "Counter"
524
+ },
525
+ "hingecabinet_2_front_group_1": {
526
+ "cls": "HingeCabinet"
527
+ },
528
+ "hingecabinet_1_front_group_1": {
529
+ "cls": "HingeCabinet"
530
+ },
531
+ "stack_1_front_group_1_base": {
532
+ "cls": "Box"
533
+ },
534
+ "stack_1_front_group_1_1": {
535
+ "cls": "SingleCabinet"
536
+ },
537
+ "stack_1_front_group_1_2": {
538
+ "cls": "Drawer"
539
+ },
540
+ "stack_2_front_group_1_base": {
541
+ "cls": "Box"
542
+ },
543
+ "stack_2_front_group_1_1": {
544
+ "cls": "SingleCabinet"
545
+ },
546
+ "stack_2_front_group_1_2": {
547
+ "cls": "Drawer"
548
+ },
549
+ "stack_3_front_group_1_base": {
550
+ "cls": "Box"
551
+ },
552
+ "stack_3_front_group_1_1": {
553
+ "cls": "SingleCabinet"
554
+ },
555
+ "stack_3_front_group_1_2": {
556
+ "cls": "Drawer"
557
+ },
558
+ "stack_4_front_group_1_base": {
559
+ "cls": "Box"
560
+ },
561
+ "stack_4_front_group_1_1": {
562
+ "cls": "SingleCabinet"
563
+ },
564
+ "stack_4_front_group_1_2": {
565
+ "cls": "Drawer"
566
+ },
567
+ "stack_5_front_group_1_base": {
568
+ "cls": "Box"
569
+ },
570
+ "stack_5_front_group_1_1": {
571
+ "cls": "Drawer"
572
+ },
573
+ "stack_5_front_group_1_2": {
574
+ "cls": "Drawer"
575
+ },
576
+ "stack_5_front_group_1_3": {
577
+ "cls": "Drawer"
578
+ },
579
+ "bottom_front_group_1_base": {
580
+ "cls": "Box"
581
+ },
582
+ "bottom_front_group_1_1": {
583
+ "cls": "Drawer"
584
+ },
585
+ "oven_front_group_1": {
586
+ "cls": "Oven"
587
+ },
588
+ "oven_housing_front_group_1": {
589
+ "cls": "HousingCabinet"
590
+ },
591
+ "microwave_front_group_1": {
592
+ "cls": "Microwave"
593
+ },
594
+ "microwave_housing_front_group_1": {
595
+ "cls": "HousingCabinet"
596
+ },
597
+ "top_front_group_1": {
598
+ "cls": "HingeCabinet"
599
+ },
600
+ "coffeemachine_front_group_1": {
601
+ "cls": "CoffeeMachine"
602
+ },
603
+ "toaster_oven_front_group_1": {
604
+ "cls": "ToasterOven"
605
+ }
606
+ },
607
+ "gen_textures": {},
608
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
609
+ "fixture_refs": {
610
+ "cabinet": "hingecabinet_2_front_group_1",
611
+ "drawer": "stack_4_main_group_1_2",
612
+ "counter": "counter_1_front_group_1"
613
+ },
614
+ "cam_configs": {
615
+ "robot0_agentview_center": {
616
+ "pos": [
617
+ -0.6,
618
+ 0.0,
619
+ 1.15
620
+ ],
621
+ "quat": [
622
+ 0.636945903301239,
623
+ 0.3325185477733612,
624
+ -0.3199238181114197,
625
+ -0.6175596117973328
626
+ ],
627
+ "parent_body": "mobilebase0_support"
628
+ },
629
+ "robot0_agentview_left": {
630
+ "pos": [
631
+ -0.5,
632
+ 0.35,
633
+ 1.05
634
+ ],
635
+ "quat": [
636
+ 0.55623853,
637
+ 0.29935253,
638
+ -0.37678665,
639
+ -0.6775092
640
+ ],
641
+ "camera_attribs": {
642
+ "fovy": "60"
643
+ },
644
+ "parent_body": "mobilebase0_support"
645
+ },
646
+ "robot0_agentview_right": {
647
+ "pos": [
648
+ -0.5,
649
+ -0.35,
650
+ 1.05
651
+ ],
652
+ "quat": [
653
+ 0.6775091886520386,
654
+ 0.3767866790294647,
655
+ -0.2993525564670563,
656
+ -0.55623859167099
657
+ ],
658
+ "camera_attribs": {
659
+ "fovy": "60"
660
+ },
661
+ "parent_body": "mobilebase0_support"
662
+ },
663
+ "robot0_frontview": {
664
+ "pos": [
665
+ -0.5,
666
+ 0,
667
+ 0.95
668
+ ],
669
+ "quat": [
670
+ 0.6088936924934387,
671
+ 0.3814677894115448,
672
+ -0.3673907518386841,
673
+ -0.5905545353889465
674
+ ],
675
+ "camera_attribs": {
676
+ "fovy": "60"
677
+ },
678
+ "parent_body": "mobilebase0_support"
679
+ },
680
+ "robot0_eye_in_hand": {
681
+ "pos": [
682
+ 0.05,
683
+ 0,
684
+ 0
685
+ ],
686
+ "quat": [
687
+ 0,
688
+ 0.707107,
689
+ 0.707107,
690
+ 0
691
+ ],
692
+ "parent_body": "robot0_right_hand"
693
+ }
694
+ },
695
+ "init_robot_base_pos": [
696
+ 1.4905823697214675,
697
+ -5.550979571308927,
698
+ 0.0
699
+ ],
700
+ "init_robot_base_ori": [
701
+ 0.0,
702
+ 0.0,
703
+ -1.57079623937212
704
+ ]
705
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000084/ep_meta.json ADDED
@@ -0,0 +1,546 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 57,
3
+ "style_id": 57,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_left_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.372173,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_left_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.372173,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_left_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.372173,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_left_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "spoon",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "spoon",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.372173,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_right_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_right_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "floor_1_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_1_backing_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "wallaccessory_3_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_4_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "lightswitch_01_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "window_group_1_room": {
235
+ "cls": "Window"
236
+ },
237
+ "stool_1_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "stool_2_room": {
241
+ "cls": "Stool"
242
+ },
243
+ "hingecabinet_2_main_group_1": {
244
+ "cls": "HingeCabinet"
245
+ },
246
+ "hingecabinet_3_main_group_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "hingecabinet_4_main_group_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "singlecabinet_1_main_group_1": {
253
+ "cls": "SingleCabinet"
254
+ },
255
+ "sink_main_group_1": {
256
+ "cls": "Sink"
257
+ },
258
+ "counter_1_main_group_1": {
259
+ "cls": "Counter"
260
+ },
261
+ "cube_3_main_group_1": {
262
+ "cls": "Box"
263
+ },
264
+ "stack_02_main_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_02_main_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "stack_02_main_group_1_2": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_01_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_01_main_group_1_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "stack_01_main_group_1_2": {
280
+ "cls": "PanelCabinet"
281
+ },
282
+ "stack_03_main_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_03_main_group_1_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "dishwasher_1_main_group_1": {
289
+ "cls": "Dishwasher"
290
+ },
291
+ "cube_9_main_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "toaster_main_group_1": {
295
+ "cls": "Toaster"
296
+ },
297
+ "fridgesidebyside_main_group_1": {
298
+ "cls": "FridgeSideBySide"
299
+ },
300
+ "fridgesidebyside_housing_main_group_1": {
301
+ "cls": "HousingCabinet"
302
+ },
303
+ "hingecabinet_1_main_group_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "bottom_main_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "bottom_main_group_1_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "oven_cabinet_main_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "microwave_main_group_1": {
316
+ "cls": "Microwave"
317
+ },
318
+ "microwave_housing_main_group_1": {
319
+ "cls": "HousingCabinet"
320
+ },
321
+ "top_main_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "hingecabinet_5_left_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "singlecabinet_2_left_group_1": {
328
+ "cls": "SingleCabinet"
329
+ },
330
+ "cube_4_left_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "counter_corner_1_left_group_1": {
334
+ "cls": "Counter"
335
+ },
336
+ "counter_2_left_group_1": {
337
+ "cls": "Counter"
338
+ },
339
+ "stack_04_left_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_04_left_group_1_1": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "stack_05_left_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_05_left_group_1_1": {
349
+ "cls": "Drawer"
350
+ },
351
+ "stack_05_left_group_1_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_05_left_group_1_3": {
355
+ "cls": "Drawer"
356
+ },
357
+ "cube_10_left_group_1": {
358
+ "cls": "Box"
359
+ },
360
+ "cube_11_left_group_1": {
361
+ "cls": "Box"
362
+ },
363
+ "coffee_machine_left_group_1": {
364
+ "cls": "CoffeeMachine"
365
+ },
366
+ "paper_towel_left_group_1": {
367
+ "cls": "Accessory"
368
+ },
369
+ "island_1_island_group_1": {
370
+ "cls": "Counter"
371
+ },
372
+ "island_2_island_group_1": {
373
+ "cls": "Counter"
374
+ },
375
+ "island_3_island_group_1": {
376
+ "cls": "Counter"
377
+ },
378
+ "stove_island_group_1": {
379
+ "cls": "Stove"
380
+ },
381
+ "stove_hood_island_group_1": {
382
+ "cls": "Hood"
383
+ },
384
+ "cube_1_island_group_1": {
385
+ "cls": "Box"
386
+ },
387
+ "cube_2_island_group_1": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_07_island_group_1_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_07_island_group_1_1": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "stack_07_island_group_1_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_06_island_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_06_island_group_1_1": {
403
+ "cls": "SingleCabinet"
404
+ },
405
+ "stack_06_island_group_1_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_09_island_group_2_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_09_island_group_2_1": {
412
+ "cls": "SingleCabinet"
413
+ },
414
+ "stack_09_island_group_2_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_08_island_group_2_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_08_island_group_2_1": {
421
+ "cls": "SingleCabinet"
422
+ },
423
+ "stack_08_island_group_2_2": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_10_island_group_2_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_10_island_group_2_1": {
430
+ "cls": "SingleCabinet"
431
+ },
432
+ "stack_10_island_group_2_2": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_11_island_group_2_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_11_island_group_2_1": {
439
+ "cls": "SingleCabinet"
440
+ },
441
+ "stack_11_island_group_2_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "cube_5_island_group_2": {
445
+ "cls": "Box"
446
+ }
447
+ },
448
+ "gen_textures": {},
449
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
450
+ "fixture_refs": {
451
+ "cabinet": "hingecabinet_2_main_group_1",
452
+ "drawer": "stack_10_island_group_2_2",
453
+ "counter": "counter_2_left_group_1"
454
+ },
455
+ "cam_configs": {
456
+ "robot0_agentview_center": {
457
+ "pos": [
458
+ -0.6,
459
+ 0.0,
460
+ 1.15
461
+ ],
462
+ "quat": [
463
+ 0.636945903301239,
464
+ 0.3325185477733612,
465
+ -0.3199238181114197,
466
+ -0.6175596117973328
467
+ ],
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_left": {
471
+ "pos": [
472
+ -0.5,
473
+ 0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.55623853,
478
+ 0.29935253,
479
+ -0.37678665,
480
+ -0.6775092
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_agentview_right": {
488
+ "pos": [
489
+ -0.5,
490
+ -0.35,
491
+ 1.05
492
+ ],
493
+ "quat": [
494
+ 0.6775091886520386,
495
+ 0.3767866790294647,
496
+ -0.2993525564670563,
497
+ -0.55623859167099
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_frontview": {
505
+ "pos": [
506
+ -0.5,
507
+ 0,
508
+ 0.95
509
+ ],
510
+ "quat": [
511
+ 0.6088936924934387,
512
+ 0.3814677894115448,
513
+ -0.3673907518386841,
514
+ -0.5905545353889465
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_eye_in_hand": {
522
+ "pos": [
523
+ 0.05,
524
+ 0,
525
+ 0
526
+ ],
527
+ "quat": [
528
+ 0,
529
+ 0.707107,
530
+ 0.707107,
531
+ 0
532
+ ],
533
+ "parent_body": "robot0_right_hand"
534
+ }
535
+ },
536
+ "init_robot_base_pos": [
537
+ -1.2189516625694592,
538
+ -0.779562354306674,
539
+ 0.0
540
+ ],
541
+ "init_robot_base_ori": [
542
+ 0.0,
543
+ 0.0,
544
+ 1.5706378976484208
545
+ ]
546
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000087/ep_meta.json ADDED
@@ -0,0 +1,642 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_left_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.4004311607387128,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 1.0497844196306438,
47
+ -3.469446951953614e-17,
48
+ 0.46
49
+ ],
50
+ "name": "geom_1"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_left_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.4004311607387128,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 1.0497844196306438,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_1"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_left_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_2/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.4004311607387128,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 1.0497844196306438,
147
+ -3.469446951953614e-17,
148
+ 0.46
149
+ ],
150
+ "name": "geom_1"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_left_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.4004311607387128,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 1.0497844196306438,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_1"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_4_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_left_4_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_1_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_1_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_left_2_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_left_2_backing_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_main_2_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_main_2_backing_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_front_1_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_front_1_backing_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "floor_1_room": {
256
+ "cls": "Floor"
257
+ },
258
+ "floor_1_backing_room": {
259
+ "cls": "Floor"
260
+ },
261
+ "floor_2_room": {
262
+ "cls": "Floor"
263
+ },
264
+ "floor_2_backing_room": {
265
+ "cls": "Floor"
266
+ },
267
+ "light_switch_1_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "wall_accessory_1_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "light_switch_2_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "wall_accessory_2_room": {
277
+ "cls": "WallAccessory"
278
+ },
279
+ "stool_1_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "stool_2_room": {
283
+ "cls": "Stool"
284
+ },
285
+ "stool_3_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "stool_4_room": {
289
+ "cls": "Stool"
290
+ },
291
+ "bottom_main_group_base": {
292
+ "cls": "Box"
293
+ },
294
+ "bottom_main_group_1": {
295
+ "cls": "Drawer"
296
+ },
297
+ "oven_main_group": {
298
+ "cls": "Oven"
299
+ },
300
+ "oven_housing_main_group": {
301
+ "cls": "HousingCabinet"
302
+ },
303
+ "microwave_main_group": {
304
+ "cls": "Microwave"
305
+ },
306
+ "microwave_housing_main_group": {
307
+ "cls": "HousingCabinet"
308
+ },
309
+ "middle_main_group": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "top_main_group": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "fridge_main_group": {
316
+ "cls": "FridgeSideBySide"
317
+ },
318
+ "fridge_housing_main_group": {
319
+ "cls": "HousingCabinet"
320
+ },
321
+ "counter_1_main_group": {
322
+ "cls": "Counter"
323
+ },
324
+ "stack_1_main_group_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_1_main_group_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_1_main_group_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_1_main_group_3": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_2_main_group_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_main_group_1": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_2_main_group_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_main_group_3": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_3_main_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_3_main_group_1": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_3_main_group_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_3_main_group_3": {
358
+ "cls": "Drawer"
359
+ },
360
+ "dishwasher_main_group": {
361
+ "cls": "Dishwasher"
362
+ },
363
+ "panel_stack_main_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "panel_stack_main_group_1": {
367
+ "cls": "PanelCabinet"
368
+ },
369
+ "cab_1_main_group": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "cab_2_main_group": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "cab_3_main_group": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "cab_4_main_group": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "cab_5_main_group": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "cab_6_main_group": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "toaster_oven_main_group": {
388
+ "cls": "ToasterOven"
389
+ },
390
+ "paper_towel_main_group": {
391
+ "cls": "Accessory"
392
+ },
393
+ "stovetop_left_group": {
394
+ "cls": "Stovetop"
395
+ },
396
+ "counter_1_left_group": {
397
+ "cls": "Counter"
398
+ },
399
+ "stack_1_left_group_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_1_left_group_1": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_1_left_group_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_1_left_group_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_2_left_group_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_2_left_group_1": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_2_left_group_2": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_2_left_group_3": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_3_left_group_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_3_left_group_1": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_3_left_group_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_3_left_group_3": {
433
+ "cls": "PanelCabinet"
434
+ },
435
+ "stack_4_left_group_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_4_left_group_1": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_4_left_group_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_4_left_group_3": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_5_left_group_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_5_left_group_1": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_5_left_group_2": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_5_left_group_3": {
457
+ "cls": "Drawer"
458
+ },
459
+ "hood_left_group": {
460
+ "cls": "Hood"
461
+ },
462
+ "cab_1_left_group": {
463
+ "cls": "HingeCabinet"
464
+ },
465
+ "cab_2_left_group": {
466
+ "cls": "HingeCabinet"
467
+ },
468
+ "cab_3_left_group": {
469
+ "cls": "HingeCabinet"
470
+ },
471
+ "cab_4_left_group": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "coffee_machine_left_group": {
475
+ "cls": "CoffeeMachine"
476
+ },
477
+ "toaster_left_group": {
478
+ "cls": "Toaster"
479
+ },
480
+ "sink_island_group": {
481
+ "cls": "Sink"
482
+ },
483
+ "island_island_group": {
484
+ "cls": "Counter"
485
+ },
486
+ "panel_box_1_island_group_base": {
487
+ "cls": "Box"
488
+ },
489
+ "panel_box_1_island_group_1": {
490
+ "cls": "PanelCabinet"
491
+ },
492
+ "stack_1_island_group_base": {
493
+ "cls": "Box"
494
+ },
495
+ "stack_1_island_group_1": {
496
+ "cls": "Drawer"
497
+ },
498
+ "stack_1_island_group_2": {
499
+ "cls": "Drawer"
500
+ },
501
+ "stack_1_island_group_3": {
502
+ "cls": "Drawer"
503
+ },
504
+ "stack_2_island_group_base": {
505
+ "cls": "Box"
506
+ },
507
+ "stack_2_island_group_1": {
508
+ "cls": "SingleCabinet"
509
+ },
510
+ "stack_3_island_group_base": {
511
+ "cls": "Box"
512
+ },
513
+ "stack_3_island_group_1": {
514
+ "cls": "HingeCabinet"
515
+ },
516
+ "stack_4_island_group_base": {
517
+ "cls": "Box"
518
+ },
519
+ "stack_4_island_group_1": {
520
+ "cls": "SingleCabinet"
521
+ },
522
+ "stack_5_island_group_base": {
523
+ "cls": "Box"
524
+ },
525
+ "stack_5_island_group_1": {
526
+ "cls": "Drawer"
527
+ },
528
+ "stack_5_island_group_2": {
529
+ "cls": "Drawer"
530
+ },
531
+ "stack_5_island_group_3": {
532
+ "cls": "Drawer"
533
+ },
534
+ "panel_cab_2_island_group_base": {
535
+ "cls": "Box"
536
+ },
537
+ "panel_cab_2_island_group_1": {
538
+ "cls": "PanelCabinet"
539
+ },
540
+ "box_island_group": {
541
+ "cls": "Box"
542
+ }
543
+ },
544
+ "gen_textures": {},
545
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
546
+ "fixture_refs": {
547
+ "cabinet": "cab_1_left_group",
548
+ "drawer": "stack_3_main_group_3",
549
+ "counter": "counter_1_left_group"
550
+ },
551
+ "cam_configs": {
552
+ "robot0_agentview_center": {
553
+ "pos": [
554
+ -0.6,
555
+ 0.0,
556
+ 1.15
557
+ ],
558
+ "quat": [
559
+ 0.636945903301239,
560
+ 0.3325185477733612,
561
+ -0.3199238181114197,
562
+ -0.6175596117973328
563
+ ],
564
+ "parent_body": "mobilebase0_support"
565
+ },
566
+ "robot0_agentview_left": {
567
+ "pos": [
568
+ -0.5,
569
+ 0.35,
570
+ 1.05
571
+ ],
572
+ "quat": [
573
+ 0.55623853,
574
+ 0.29935253,
575
+ -0.37678665,
576
+ -0.6775092
577
+ ],
578
+ "camera_attribs": {
579
+ "fovy": "60"
580
+ },
581
+ "parent_body": "mobilebase0_support"
582
+ },
583
+ "robot0_agentview_right": {
584
+ "pos": [
585
+ -0.5,
586
+ -0.35,
587
+ 1.05
588
+ ],
589
+ "quat": [
590
+ 0.6775091886520386,
591
+ 0.3767866790294647,
592
+ -0.2993525564670563,
593
+ -0.55623859167099
594
+ ],
595
+ "camera_attribs": {
596
+ "fovy": "60"
597
+ },
598
+ "parent_body": "mobilebase0_support"
599
+ },
600
+ "robot0_frontview": {
601
+ "pos": [
602
+ -0.5,
603
+ 0,
604
+ 0.95
605
+ ],
606
+ "quat": [
607
+ 0.6088936924934387,
608
+ 0.3814677894115448,
609
+ -0.3673907518386841,
610
+ -0.5905545353889465
611
+ ],
612
+ "camera_attribs": {
613
+ "fovy": "60"
614
+ },
615
+ "parent_body": "mobilebase0_support"
616
+ },
617
+ "robot0_eye_in_hand": {
618
+ "pos": [
619
+ 0.05,
620
+ 0,
621
+ 0
622
+ ],
623
+ "quat": [
624
+ 0,
625
+ 0.707107,
626
+ 0.707107,
627
+ 0
628
+ ],
629
+ "parent_body": "robot0_right_hand"
630
+ }
631
+ },
632
+ "init_robot_base_pos": [
633
+ 0.19853053836691376,
634
+ -3.0097297945608434,
635
+ 0.0
636
+ ],
637
+ "init_robot_base_ori": [
638
+ 0.0,
639
+ 0.0,
640
+ 3.1415926193612504
641
+ ]
642
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000092/ep_meta.json ADDED
@@ -0,0 +1,597 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 46,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_2_main_group_1",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 2.579347,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_2_main_group_1",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 2.579347,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_2_main_group_1",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "spoon",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "spoon",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_17/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 2.579347,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_2_main_group_1",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.579347,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_main_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_1_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_1_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "floor_1_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_1_backing_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "wallaccessory_1_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_2_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_3_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wallaccessory_4_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "lightswitch_02_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "lightswitch_03_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "stool_3_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_2_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_1_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stack_13_island_group_2_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_13_island_group_2_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_04_island_group_2_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_04_island_group_2_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_12_island_group_2_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_12_island_group_2_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "singlecabinet_2_main_group_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "hingecabinet_5_main_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "hingecabinet_4_main_group_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "opencabinet_2_main_group_1": {
280
+ "cls": "OpenCabinet"
281
+ },
282
+ "opencabinet_3_main_group_1": {
283
+ "cls": "OpenCabinet"
284
+ },
285
+ "counter_2_main_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "counter_corner_1_main_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "counter_3_main_group_1": {
292
+ "cls": "Counter"
293
+ },
294
+ "stove_main_group_1": {
295
+ "cls": "Stove"
296
+ },
297
+ "stove_hood_main_group_1": {
298
+ "cls": "Hood"
299
+ },
300
+ "cube_4_main_group_1": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_11_main_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_11_main_group_1_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "stack_03_main_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_03_main_group_1_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "stack_03_main_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_02_main_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_02_main_group_1_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "stack_04_main_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_04_main_group_1_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_04_main_group_1_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_04_main_group_1_3": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_08_main_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_08_main_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_08_main_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_06_main_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_06_main_group_1_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "stack_07_main_group_1_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_07_main_group_1_1": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_07_main_group_1_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_07_main_group_1_3": {
361
+ "cls": "Drawer"
362
+ },
363
+ "cube_8_main_group_1": {
364
+ "cls": "Box"
365
+ },
366
+ "coffee_machine_main_group_1": {
367
+ "cls": "CoffeeMachine"
368
+ },
369
+ "papertowel_main_group_1": {
370
+ "cls": "Accessory"
371
+ },
372
+ "plant_main_group_1": {
373
+ "cls": "Accessory"
374
+ },
375
+ "toaster_oven_main_group_1": {
376
+ "cls": "ToasterOven"
377
+ },
378
+ "singlecabinet_1_right_group_1": {
379
+ "cls": "SingleCabinet"
380
+ },
381
+ "hingecabinet_1_right_group_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "hingecabinet_9_right_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "counter_1_right_group_1": {
388
+ "cls": "Counter"
389
+ },
390
+ "counter_8_right_group_1": {
391
+ "cls": "Counter"
392
+ },
393
+ "stack_6_right_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_6_right_group_1_1": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_6_right_group_1_2": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_4_right_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_4_right_group_1_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "cube_11_right_group_1": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_7_right_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_7_right_group_1_1": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "stack_7_right_group_1_2": {
418
+ "cls": "Drawer"
419
+ },
420
+ "cube_12_right_group_1": {
421
+ "cls": "Box"
422
+ },
423
+ "fridgefrenchdoor_right_group_1": {
424
+ "cls": "FridgeFrenchDoor"
425
+ },
426
+ "fridgefrenchdoor_housing_right_group_1": {
427
+ "cls": "HousingCabinet"
428
+ },
429
+ "bottom_right_group_1_base": {
430
+ "cls": "Box"
431
+ },
432
+ "bottom_right_group_1_1": {
433
+ "cls": "Drawer"
434
+ },
435
+ "oven_cabinet_right_group_1": {
436
+ "cls": "HingeCabinet"
437
+ },
438
+ "microwave_right_group_1": {
439
+ "cls": "Microwave"
440
+ },
441
+ "microwave_housing_right_group_1": {
442
+ "cls": "HousingCabinet"
443
+ },
444
+ "top_right_group_1": {
445
+ "cls": "HingeCabinet"
446
+ },
447
+ "hingecabinet_2_right_group_1": {
448
+ "cls": "HingeCabinet"
449
+ },
450
+ "toaster_right_group_1": {
451
+ "cls": "Toaster"
452
+ },
453
+ "sink_island_group_1": {
454
+ "cls": "Sink"
455
+ },
456
+ "island_island_group_1": {
457
+ "cls": "Counter"
458
+ },
459
+ "stack_11_island_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_11_island_group_1_1": {
463
+ "cls": "HingeCabinet"
464
+ },
465
+ "stack_11_island_group_1_2": {
466
+ "cls": "PanelCabinet"
467
+ },
468
+ "stack_09_island_group_1_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_09_island_group_1_1": {
472
+ "cls": "Drawer"
473
+ },
474
+ "stack_09_island_group_1_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_09_island_group_1_3": {
478
+ "cls": "Drawer"
479
+ },
480
+ "stack_10_island_group_1_base": {
481
+ "cls": "Box"
482
+ },
483
+ "stack_10_island_group_1_1": {
484
+ "cls": "SingleCabinet"
485
+ },
486
+ "stack_10_island_group_1_2": {
487
+ "cls": "Drawer"
488
+ },
489
+ "dishwasher_1_island_group_1": {
490
+ "cls": "Dishwasher"
491
+ },
492
+ "cube_1_island_group_1": {
493
+ "cls": "Box"
494
+ },
495
+ "cube_2_island_group_1": {
496
+ "cls": "Box"
497
+ }
498
+ },
499
+ "gen_textures": {},
500
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
501
+ "fixture_refs": {
502
+ "cabinet": "hingecabinet_5_main_group_1",
503
+ "drawer": "stack_10_island_group_1_2",
504
+ "counter": "counter_2_main_group_1"
505
+ },
506
+ "cam_configs": {
507
+ "robot0_agentview_center": {
508
+ "pos": [
509
+ -0.6,
510
+ 0.0,
511
+ 1.15
512
+ ],
513
+ "quat": [
514
+ 0.636945903301239,
515
+ 0.3325185477733612,
516
+ -0.3199238181114197,
517
+ -0.6175596117973328
518
+ ],
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_left": {
522
+ "pos": [
523
+ -0.5,
524
+ 0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.55623853,
529
+ 0.29935253,
530
+ -0.37678665,
531
+ -0.6775092
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_agentview_right": {
539
+ "pos": [
540
+ -0.5,
541
+ -0.35,
542
+ 1.05
543
+ ],
544
+ "quat": [
545
+ 0.6775091886520386,
546
+ 0.3767866790294647,
547
+ -0.2993525564670563,
548
+ -0.55623859167099
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_frontview": {
556
+ "pos": [
557
+ -0.5,
558
+ 0,
559
+ 0.95
560
+ ],
561
+ "quat": [
562
+ 0.6088936924934387,
563
+ 0.3814677894115448,
564
+ -0.3673907518386841,
565
+ -0.5905545353889465
566
+ ],
567
+ "camera_attribs": {
568
+ "fovy": "60"
569
+ },
570
+ "parent_body": "mobilebase0_support"
571
+ },
572
+ "robot0_eye_in_hand": {
573
+ "pos": [
574
+ 0.05,
575
+ 0,
576
+ 0
577
+ ],
578
+ "quat": [
579
+ 0,
580
+ 0.707107,
581
+ 0.707107,
582
+ 0
583
+ ],
584
+ "parent_body": "robot0_right_hand"
585
+ }
586
+ },
587
+ "init_robot_base_pos": [
588
+ 4.643240590002301,
589
+ -0.8145515250415767,
590
+ 0.0
591
+ ],
592
+ "init_robot_base_ori": [
593
+ 0.0,
594
+ 0.0,
595
+ 1.57064844767067
596
+ ]
597
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000100/ep_meta.json ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 11,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "wooden_spoon",
7
+ "obj_groups": "wooden_spoon",
8
+ "init_robot_here": true,
9
+ "object_scale": [
10
+ 1,
11
+ 1,
12
+ 2
13
+ ],
14
+ "placement": {
15
+ "fixture": "counter_1_main_group",
16
+ "size": [
17
+ 1.0,
18
+ 0.5
19
+ ],
20
+ "pos": [
21
+ 0,
22
+ -1.0
23
+ ],
24
+ "rotation": 0
25
+ },
26
+ "type": "object",
27
+ "info": {
28
+ "groups_containing_sampled_obj": [
29
+ "all",
30
+ "wooden_spoon",
31
+ "utensil"
32
+ ],
33
+ "groups": [
34
+ "wooden_spoon"
35
+ ],
36
+ "cat": "wooden_spoon",
37
+ "split": "train",
38
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
39
+ },
40
+ "reset_region": {
41
+ "size": [
42
+ 1.131,
43
+ 0.65
44
+ ],
45
+ "offset": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.46
49
+ ],
50
+ "name": "geom_0"
51
+ }
52
+ },
53
+ {
54
+ "name": "wooden_spoon_2",
55
+ "obj_groups": "wooden_spoon",
56
+ "object_scale": [
57
+ 1,
58
+ 1,
59
+ 2
60
+ ],
61
+ "placement": {
62
+ "fixture": "counter_1_main_group",
63
+ "reuse_region_from": "wooden_spoon",
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ 0,
70
+ -1.0
71
+ ],
72
+ "rotation": 0
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "wooden_spoon",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "wooden_spoon"
83
+ ],
84
+ "cat": "wooden_spoon",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.131,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.0,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "metallic_utensil",
103
+ "obj_groups": [
104
+ "spoon",
105
+ "fork"
106
+ ],
107
+ "object_scale": [
108
+ 1,
109
+ 1,
110
+ 2
111
+ ],
112
+ "placement": {
113
+ "fixture": "counter_1_main_group",
114
+ "reuse_region_from": "wooden_spoon",
115
+ "size": [
116
+ 1.0,
117
+ 0.5
118
+ ],
119
+ "pos": [
120
+ 0,
121
+ -1.0
122
+ ],
123
+ "rotation": 0
124
+ },
125
+ "type": "object",
126
+ "info": {
127
+ "groups_containing_sampled_obj": [
128
+ "all",
129
+ "fork",
130
+ "utensil"
131
+ ],
132
+ "groups": [
133
+ "spoon",
134
+ "fork"
135
+ ],
136
+ "cat": "fork",
137
+ "split": "train",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.131,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.0,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "metallic_utensil_2",
155
+ "obj_groups": [
156
+ "spoon",
157
+ "fork"
158
+ ],
159
+ "object_scale": [
160
+ 1,
161
+ 1,
162
+ 2
163
+ ],
164
+ "placement": {
165
+ "fixture": "counter_1_main_group",
166
+ "reuse_region_from": "wooden_spoon",
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ 0,
173
+ -1.0
174
+ ],
175
+ "rotation": 0
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "fork",
182
+ "utensil"
183
+ ],
184
+ "groups": [
185
+ "spoon",
186
+ "fork"
187
+ ],
188
+ "cat": "fork",
189
+ "split": "train",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.131,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ }
205
+ ],
206
+ "fixtures": {
207
+ "wall_left_1_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_1_backing_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_main_backing_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_1_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_backing_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_2_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_2_backing_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_3_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_3_backing_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "floor_1_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_1_backing_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_2_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_2_backing_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "wall_accessory_1_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_2_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "light_switch_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wall_accessory_3_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wall_accessory_4_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "stool_2_room": {
265
+ "cls": "Stool"
266
+ },
267
+ "stool_1_room": {
268
+ "cls": "Stool"
269
+ },
270
+ "counter_corner_main_group": {
271
+ "cls": "Counter"
272
+ },
273
+ "counter_1_main_group": {
274
+ "cls": "Counter"
275
+ },
276
+ "stove_1_main_group": {
277
+ "cls": "Stove"
278
+ },
279
+ "counter_2_main_group": {
280
+ "cls": "Counter"
281
+ },
282
+ "stack_1_main_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_1_main_group_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_1_main_group_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_1_main_group_3": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_1_main_group_4": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_2_main_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_main_group_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_2_main_group_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_main_group_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_3_main_group_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_3_main_group_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_4_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_4_main_group_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_4_main_group_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_4_main_group_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_4_main_group_4": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_5_main_group_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_5_main_group_1": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "stack_5_main_group_2": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_1_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "microwave_main_group": {
343
+ "cls": "Microwave"
344
+ },
345
+ "cab_2_main_group": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "cab_3_main_group": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "counter_stack_main_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "counter_stack_main_group_1": {
355
+ "cls": "SingleCabinet"
356
+ },
357
+ "counter_stack_main_group_2": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "counter_stack_main_group_3": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "toaster_main_group": {
364
+ "cls": "Toaster"
365
+ },
366
+ "sink_left_group": {
367
+ "cls": "Sink"
368
+ },
369
+ "counter_1_left_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "counter_left_group": {
373
+ "cls": "Counter"
374
+ },
375
+ "panel_cab_left_group_base": {
376
+ "cls": "Box"
377
+ },
378
+ "panel_cab_left_group_1": {
379
+ "cls": "PanelCabinet"
380
+ },
381
+ "dishwasher_left_group": {
382
+ "cls": "Dishwasher"
383
+ },
384
+ "stack_1_left_group_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_1_left_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "stack_1_left_group_2": {
391
+ "cls": "PanelCabinet"
392
+ },
393
+ "stack_2_left_group_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_2_left_group_1": {
397
+ "cls": "SingleCabinet"
398
+ },
399
+ "stack_2_left_group_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "box_left_group": {
403
+ "cls": "Box"
404
+ },
405
+ "coffee_machine_left_group": {
406
+ "cls": "CoffeeMachine"
407
+ },
408
+ "paper_towel_left_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "box_right_group": {
412
+ "cls": "Box"
413
+ },
414
+ "fridge_right_group": {
415
+ "cls": "FridgeBottomFreezer"
416
+ },
417
+ "fridge_housing_right_group": {
418
+ "cls": "HousingCabinet"
419
+ },
420
+ "cab_1_right_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "dining_dining_group": {
424
+ "cls": "Counter"
425
+ }
426
+ },
427
+ "gen_textures": {},
428
+ "lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
429
+ "fixture_refs": {
430
+ "cabinet": "cab_1_main_group",
431
+ "drawer": "stack_3_main_group_2",
432
+ "counter": "counter_1_main_group"
433
+ },
434
+ "cam_configs": {
435
+ "robot0_agentview_center": {
436
+ "pos": [
437
+ -0.6,
438
+ 0.0,
439
+ 1.15
440
+ ],
441
+ "quat": [
442
+ 0.636945903301239,
443
+ 0.3325185477733612,
444
+ -0.3199238181114197,
445
+ -0.6175596117973328
446
+ ],
447
+ "parent_body": "mobilebase0_support"
448
+ },
449
+ "robot0_agentview_left": {
450
+ "pos": [
451
+ -0.5,
452
+ 0.35,
453
+ 1.05
454
+ ],
455
+ "quat": [
456
+ 0.55623853,
457
+ 0.29935253,
458
+ -0.37678665,
459
+ -0.6775092
460
+ ],
461
+ "camera_attribs": {
462
+ "fovy": "60"
463
+ },
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_right": {
467
+ "pos": [
468
+ -0.5,
469
+ -0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.6775091886520386,
474
+ 0.3767866790294647,
475
+ -0.2993525564670563,
476
+ -0.55623859167099
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_frontview": {
484
+ "pos": [
485
+ -0.5,
486
+ 0,
487
+ 0.95
488
+ ],
489
+ "quat": [
490
+ 0.6088936924934387,
491
+ 0.3814677894115448,
492
+ -0.3673907518386841,
493
+ -0.5905545353889465
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_eye_in_hand": {
501
+ "pos": [
502
+ 0.05,
503
+ 0,
504
+ 0
505
+ ],
506
+ "quat": [
507
+ 0,
508
+ 0.707107,
509
+ 0.707107,
510
+ 0
511
+ ],
512
+ "parent_body": "robot0_right_hand"
513
+ }
514
+ },
515
+ "init_robot_base_pos": [
516
+ 1.0944123429513168,
517
+ -0.8489648168233236,
518
+ 0.0
519
+ ],
520
+ "init_robot_base_ori": [
521
+ 0.0,
522
+ 0.0,
523
+ 1.5707963267948966
524
+ ]
525
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/embodiment.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_name": "PandaOmron",
3
+ "robot_type": "PandaOmron",
4
+ "record_frequency": 20.0,
5
+ "body_controller_frequency": 20.0,
6
+ "hand_controller_frequency": 20.0,
7
+ "embodiment_tag": "robocasa_panda_omron"
8
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes.jsonl ADDED
@@ -0,0 +1,102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2821}
2
+ {"episode_index": 1, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1930}
3
+ {"episode_index": 2, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3021}
4
+ {"episode_index": 3, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2499}
5
+ {"episode_index": 4, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1768}
6
+ {"episode_index": 5, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2110}
7
+ {"episode_index": 6, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2898}
8
+ {"episode_index": 7, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2600}
9
+ {"episode_index": 8, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2304}
10
+ {"episode_index": 9, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2560}
11
+ {"episode_index": 10, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2390}
12
+ {"episode_index": 11, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2444}
13
+ {"episode_index": 12, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2425}
14
+ {"episode_index": 13, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2982}
15
+ {"episode_index": 14, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2551}
16
+ {"episode_index": 15, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1747}
17
+ {"episode_index": 16, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2363}
18
+ {"episode_index": 17, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2231}
19
+ {"episode_index": 18, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2513}
20
+ {"episode_index": 19, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2874}
21
+ {"episode_index": 20, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2617}
22
+ {"episode_index": 21, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1712}
23
+ {"episode_index": 22, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2880}
24
+ {"episode_index": 23, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2307}
25
+ {"episode_index": 24, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2333}
26
+ {"episode_index": 25, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2145}
27
+ {"episode_index": 26, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3026}
28
+ {"episode_index": 27, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2393}
29
+ {"episode_index": 28, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2897}
30
+ {"episode_index": 29, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2814}
31
+ {"episode_index": 30, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2108}
32
+ {"episode_index": 31, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2373}
33
+ {"episode_index": 32, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2657}
34
+ {"episode_index": 33, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2977}
35
+ {"episode_index": 34, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2837}
36
+ {"episode_index": 35, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3284}
37
+ {"episode_index": 36, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2681}
38
+ {"episode_index": 37, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2228}
39
+ {"episode_index": 38, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3167}
40
+ {"episode_index": 39, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2524}
41
+ {"episode_index": 40, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2641}
42
+ {"episode_index": 41, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2407}
43
+ {"episode_index": 42, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2540}
44
+ {"episode_index": 43, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2488}
45
+ {"episode_index": 44, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2114}
46
+ {"episode_index": 45, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2976}
47
+ {"episode_index": 46, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1795}
48
+ {"episode_index": 47, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1893}
49
+ {"episode_index": 48, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2672}
50
+ {"episode_index": 49, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2666}
51
+ {"episode_index": 50, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3253}
52
+ {"episode_index": 51, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2181}
53
+ {"episode_index": 52, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2871}
54
+ {"episode_index": 53, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 4295}
55
+ {"episode_index": 54, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2671}
56
+ {"episode_index": 55, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2901}
57
+ {"episode_index": 56, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2810}
58
+ {"episode_index": 57, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3084}
59
+ {"episode_index": 58, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2449}
60
+ {"episode_index": 59, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1965}
61
+ {"episode_index": 60, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2347}
62
+ {"episode_index": 61, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3189}
63
+ {"episode_index": 62, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2404}
64
+ {"episode_index": 63, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2126}
65
+ {"episode_index": 64, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2493}
66
+ {"episode_index": 65, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1928}
67
+ {"episode_index": 66, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2278}
68
+ {"episode_index": 67, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2291}
69
+ {"episode_index": 68, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2617}
70
+ {"episode_index": 69, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1931}
71
+ {"episode_index": 70, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2791}
72
+ {"episode_index": 71, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2909}
73
+ {"episode_index": 72, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2368}
74
+ {"episode_index": 73, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3072}
75
+ {"episode_index": 74, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2644}
76
+ {"episode_index": 75, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2721}
77
+ {"episode_index": 76, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2242}
78
+ {"episode_index": 77, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1973}
79
+ {"episode_index": 78, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2560}
80
+ {"episode_index": 79, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2806}
81
+ {"episode_index": 80, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2066}
82
+ {"episode_index": 81, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2822}
83
+ {"episode_index": 82, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2516}
84
+ {"episode_index": 83, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2447}
85
+ {"episode_index": 84, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3011}
86
+ {"episode_index": 85, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1855}
87
+ {"episode_index": 86, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2486}
88
+ {"episode_index": 87, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2474}
89
+ {"episode_index": 88, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2430}
90
+ {"episode_index": 89, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2058}
91
+ {"episode_index": 90, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2292}
92
+ {"episode_index": 91, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2751}
93
+ {"episode_index": 92, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2299}
94
+ {"episode_index": 93, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3022}
95
+ {"episode_index": 94, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1731}
96
+ {"episode_index": 95, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2721}
97
+ {"episode_index": 96, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2580}
98
+ {"episode_index": 97, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3256}
99
+ {"episode_index": 98, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3370}
100
+ {"episode_index": 99, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2455}
101
+ {"episode_index": 100, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2423}
102
+ {"episode_index": 101, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2653}
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/info.json ADDED
@@ -0,0 +1,179 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "PandaOmron",
4
+ "total_episodes": 102,
5
+ "total_frames": 259071,
6
+ "total_tasks": 1,
7
+ "total_videos": 306,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:102"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.images.robot0_eye_in_hand": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 20,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "h264",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 20,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.robot0_agentview_left": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channel"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 20,
61
+ "video.codec": "h264",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 256,
69
+ "video.codec": "h264",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 20,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.images.robot0_agentview_right": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 256,
81
+ 256,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channel"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 20,
91
+ "video.codec": "h264",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ },
96
+ "info": {
97
+ "video.height": 256,
98
+ "video.width": 256,
99
+ "video.codec": "h264",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 20,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "annotation.human.task_description": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ]
112
+ },
113
+ "annotation.human.task_name": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ]
118
+ },
119
+ "observation.state": {
120
+ "dtype": "float64",
121
+ "shape": [
122
+ 16
123
+ ]
124
+ },
125
+ "action": {
126
+ "dtype": "float64",
127
+ "shape": [
128
+ 12
129
+ ]
130
+ },
131
+ "next.reward": {
132
+ "dtype": "float32",
133
+ "shape": [
134
+ 1
135
+ ]
136
+ },
137
+ "next.done": {
138
+ "dtype": "bool",
139
+ "shape": [
140
+ 1
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "dtype": "float32",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "frame_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "episode_index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ },
171
+ "task_index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ }
178
+ }
179
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/modality.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "base_position": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 3
7
+ },
8
+ "base_rotation": {
9
+ "original_key": "observation.state",
10
+ "start": 3,
11
+ "end": 7
12
+ },
13
+ "end_effector_position_relative": {
14
+ "original_key": "observation.state",
15
+ "start": 7,
16
+ "end": 10
17
+ },
18
+ "end_effector_rotation_relative": {
19
+ "original_key": "observation.state",
20
+ "start": 10,
21
+ "end": 14
22
+ },
23
+ "gripper_qpos": {
24
+ "original_key": "observation.state",
25
+ "start": 14,
26
+ "end": 16
27
+ }
28
+ },
29
+ "action": {
30
+ "base_motion": {
31
+ "original_key": "action",
32
+ "start": 0,
33
+ "end": 4
34
+ },
35
+ "control_mode": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 5
39
+ },
40
+ "end_effector_position": {
41
+ "original_key": "action",
42
+ "start": 5,
43
+ "end": 8
44
+ },
45
+ "end_effector_rotation": {
46
+ "original_key": "action",
47
+ "start": 8,
48
+ "end": 11
49
+ },
50
+ "gripper_close": {
51
+ "original_key": "action",
52
+ "start": 11,
53
+ "end": 12
54
+ }
55
+ },
56
+ "video": {
57
+ "robot0_eye_in_hand": {
58
+ "original_key": "observation.images.robot0_eye_in_hand"
59
+ },
60
+ "robot0_agentview_left": {
61
+ "original_key": "observation.images.robot0_agentview_left"
62
+ },
63
+ "robot0_agentview_right": {
64
+ "original_key": "observation.images.robot0_agentview_right"
65
+ }
66
+ },
67
+ "annotation": {
68
+ "human.task_description": {
69
+ "original_key": "annotation.human.task_description"
70
+ }
71
+ }
72
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/stats.json ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "annotation.human.task_description": {
3
+ "mean": [
4
+ 0.0
5
+ ],
6
+ "std": [
7
+ 0.0
8
+ ],
9
+ "min": [
10
+ 0.0
11
+ ],
12
+ "max": [
13
+ 0.0
14
+ ],
15
+ "q01": [
16
+ 0.0
17
+ ],
18
+ "q99": [
19
+ 0.0
20
+ ]
21
+ },
22
+ "annotation.human.task_name": {
23
+ "mean": [
24
+ 1.0
25
+ ],
26
+ "std": [
27
+ 0.0
28
+ ],
29
+ "min": [
30
+ 1.0
31
+ ],
32
+ "max": [
33
+ 1.0
34
+ ],
35
+ "q01": [
36
+ 1.0
37
+ ],
38
+ "q99": [
39
+ 1.0
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "mean": [
44
+ 2.574626922607422,
45
+ -2.1689565181732178,
46
+ 0.707976758480072,
47
+ 0.0,
48
+ 0.0,
49
+ 0.1710701733827591,
50
+ 0.6178537607192993,
51
+ 0.25954142212867737,
52
+ -0.018331147730350494,
53
+ 0.47440528869628906,
54
+ 0.07159982621669769,
55
+ 0.1768515706062317,
56
+ 0.04576539620757103,
57
+ 0.09743528068065643,
58
+ 0.021821115165948868,
59
+ -0.022138841450214386
60
+ ],
61
+ "std": [
62
+ 1.7919714450836182,
63
+ 1.3097434043884277,
64
+ 0.007489786949008703,
65
+ 0.0,
66
+ 0.0,
67
+ 0.6884709596633911,
68
+ 0.3394284248352051,
69
+ 0.1792142689228058,
70
+ 0.14090202748775482,
71
+ 0.20267175137996674,
72
+ 0.8648515939712524,
73
+ 0.37865015864372253,
74
+ 0.22095665335655212,
75
+ 0.10852152109146118,
76
+ 0.016117986291646957,
77
+ 0.016004741191864014
78
+ ],
79
+ "min": [
80
+ -4.7455339431762695,
81
+ -6.383419036865234,
82
+ 0.6998832821846008,
83
+ 0.0,
84
+ 0.0,
85
+ -1.0,
86
+ 0.0,
87
+ -0.16878646612167358,
88
+ -0.7143411040306091,
89
+ -0.08856217563152313,
90
+ -0.9999926686286926,
91
+ -0.9998341202735901,
92
+ -0.9293532967567444,
93
+ 2.2168003965816752e-07,
94
+ -0.0045614708214998245,
95
+ -0.042846471071243286
96
+ ],
97
+ "max": [
98
+ 7.290634632110596,
99
+ -0.3282712996006012,
100
+ 0.7556185126304626,
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 1.0,
105
+ 0.826848030090332,
106
+ 0.6906551718711853,
107
+ 0.935728907585144,
108
+ 0.9999988079071045,
109
+ 0.9999314546585083,
110
+ 0.9035581946372986,
111
+ 0.8128157258033752,
112
+ 0.04219602793455124,
113
+ 0.0024940900038927794
114
+ ],
115
+ "q01": [
116
+ -2.2745747566223145,
117
+ -5.569411754608154,
118
+ 0.6999993920326233,
119
+ 0.0,
120
+ 0.0,
121
+ -0.9999973773956299,
122
+ 0.0001360828464385122,
123
+ -0.06945746392011642,
124
+ -0.48089900612831116,
125
+ 0.014468241482973099,
126
+ -0.9987776875495911,
127
+ -0.6913659572601318,
128
+ -0.4516381025314331,
129
+ 0.0007451772689819336,
130
+ 0.000963406462687999,
131
+ -0.040085095912218094
132
+ ],
133
+ "q99": [
134
+ 6.034248352050781,
135
+ -0.751186192035675,
136
+ 0.7301216721534729,
137
+ 0.0,
138
+ 0.0,
139
+ 0.9999998807907104,
140
+ 0.9999998807907104,
141
+ 0.6614891290664673,
142
+ 0.43693652749061584,
143
+ 0.8380551338195801,
144
+ 0.9983844757080078,
145
+ 0.9756506085395813,
146
+ 0.5062718987464905,
147
+ 0.456104576587677,
148
+ 0.04007215052843094,
149
+ -0.001276274211704731
150
+ ]
151
+ },
152
+ "action": {
153
+ "mean": [
154
+ 0.1090666800737381,
155
+ 0.014409981667995453,
156
+ -0.005060606170445681,
157
+ 0.0,
158
+ -0.27532607316970825,
159
+ 0.0032769818790256977,
160
+ -0.0034677658695727587,
161
+ -0.029479961842298508,
162
+ 0.0021603929344564676,
163
+ -0.0021355461794883013,
164
+ 0.0013208282180130482,
165
+ 0.10656151920557022
166
+ ],
167
+ "std": [
168
+ 0.3350505232810974,
169
+ 0.22818240523338318,
170
+ 0.2519475221633911,
171
+ 0.0,
172
+ 0.9618409276008606,
173
+ 0.31120872497558594,
174
+ 0.18970979750156403,
175
+ 0.31819331645965576,
176
+ 0.07681005448102951,
177
+ 0.09066583961248398,
178
+ 0.10922955721616745,
179
+ 0.9934370517730713
180
+ ],
181
+ "min": [
182
+ -1.0,
183
+ -1.0,
184
+ -1.0,
185
+ 0.0,
186
+ -1.0,
187
+ -1.0,
188
+ -1.0,
189
+ -1.0,
190
+ -1.0,
191
+ -1.0,
192
+ -0.9178571701049805,
193
+ -1.0
194
+ ],
195
+ "max": [
196
+ 1.0,
197
+ 1.0,
198
+ 1.0,
199
+ 0.0,
200
+ 1.0,
201
+ 1.0,
202
+ 1.0,
203
+ 1.0,
204
+ 1.0,
205
+ 1.0,
206
+ 0.9178571701049805,
207
+ 1.0
208
+ ],
209
+ "q01": [
210
+ -0.7642857432365417,
211
+ -0.7428571581840515,
212
+ -0.9964285492897034,
213
+ 0.0,
214
+ -1.0,
215
+ -1.0,
216
+ -0.6821428537368774,
217
+ -0.7607142925262451,
218
+ -0.24642856419086456,
219
+ -0.33142855763435364,
220
+ -0.4214285612106323,
221
+ -1.0
222
+ ],
223
+ "q99": [
224
+ 1.0,
225
+ 0.8857142925262451,
226
+ 1.0,
227
+ 0.0,
228
+ 1.0,
229
+ 0.7571428418159485,
230
+ 0.6178571581840515,
231
+ 1.0,
232
+ 0.2857142984867096,
233
+ 0.27714285254478455,
234
+ 0.4000000059604645,
235
+ 1.0
236
+ ]
237
+ },
238
+ "next.reward": {
239
+ "mean": [
240
+ 0.0063110110349953175
241
+ ],
242
+ "std": [
243
+ 0.07919079810380936
244
+ ],
245
+ "min": [
246
+ 0.0
247
+ ],
248
+ "max": [
249
+ 1.0
250
+ ],
251
+ "q01": [
252
+ 0.0
253
+ ],
254
+ "q99": [
255
+ 0.0
256
+ ]
257
+ },
258
+ "next.done": {
259
+ "mean": [
260
+ 0.00039371446473523974
261
+ ],
262
+ "std": [
263
+ 0.01983833685517311
264
+ ],
265
+ "min": [
266
+ 0.0
267
+ ],
268
+ "max": [
269
+ 1.0
270
+ ],
271
+ "q01": [
272
+ 0.0
273
+ ],
274
+ "q99": [
275
+ 0.0
276
+ ]
277
+ },
278
+ "timestamp": {
279
+ "mean": [
280
+ 65.21851348876953
281
+ ],
282
+ "std": [
283
+ 39.699031829833984
284
+ ],
285
+ "min": [
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 214.6999969482422
290
+ ],
291
+ "q01": [
292
+ 1.25
293
+ ],
294
+ "q99": [
295
+ 152.10000610351562
296
+ ]
297
+ },
298
+ "frame_index": {
299
+ "mean": [
300
+ 1304.3701171875
301
+ ],
302
+ "std": [
303
+ 793.9805908203125
304
+ ],
305
+ "min": [
306
+ 0.0
307
+ ],
308
+ "max": [
309
+ 4294.0
310
+ ],
311
+ "q01": [
312
+ 25.0
313
+ ],
314
+ "q99": [
315
+ 3042.0
316
+ ]
317
+ },
318
+ "episode_index": {
319
+ "mean": [
320
+ 50.76826095581055
321
+ ],
322
+ "std": [
323
+ 29.276710510253906
324
+ ],
325
+ "min": [
326
+ 0.0
327
+ ],
328
+ "max": [
329
+ 101.0
330
+ ],
331
+ "q01": [
332
+ 0.0
333
+ ],
334
+ "q99": [
335
+ 101.0
336
+ ]
337
+ },
338
+ "index": {
339
+ "mean": [
340
+ 129535.0
341
+ ],
342
+ "std": [
343
+ 74787.34375
344
+ ],
345
+ "min": [
346
+ 0.0
347
+ ],
348
+ "max": [
349
+ 259070.0
350
+ ],
351
+ "q01": [
352
+ 2590.699951171875
353
+ ],
354
+ "q99": [
355
+ 256479.296875
356
+ ]
357
+ },
358
+ "task_index": {
359
+ "mean": [
360
+ 0.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "min": [
366
+ 0.0
367
+ ],
368
+ "max": [
369
+ 0.0
370
+ ],
371
+ "q01": [
372
+ 0.0
373
+ ],
374
+ "q99": [
375
+ 0.0
376
+ ]
377
+ }
378
+ }
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"task_index": 0, "task": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."}
2
+ {"task_index": 1, "task": "ArrangeUtensilsByType"}
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000003/ep_meta.json ADDED
@@ -0,0 +1,613 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_3_right_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.94,
45
+ 0.340555
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_3_right_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.94,
91
+ 0.340555
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_2_right_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_3_right_group_1",
105
+ "min_size": [
106
+ 0.05496633832750106,
107
+ 0.10011066582587716,
108
+ 0.11258375177999994
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "eggplant",
125
+ "vegetable",
126
+ "food",
127
+ "in_container",
128
+ "oven_ready"
129
+ ],
130
+ "groups": [
131
+ "food"
132
+ ],
133
+ "cat": "eggplant",
134
+ "split": "train",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 0.9999999999999991,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ 4.440892098500626e-16,
144
+ 0.0,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food2",
152
+ "obj_groups": "food",
153
+ "graspable": true,
154
+ "placement": {
155
+ "fixture": "counter_2_right_group_1",
156
+ "sample_region_kwargs": {
157
+ "ref": "hingecabinet_3_right_group_1",
158
+ "min_size": [
159
+ 0.05103102500000001,
160
+ 0.122814865,
161
+ 0.0535306175
162
+ ]
163
+ },
164
+ "size": [
165
+ 0.6,
166
+ 0.3
167
+ ],
168
+ "pos": [
169
+ "ref",
170
+ -1.0
171
+ ]
172
+ },
173
+ "type": "object",
174
+ "info": {
175
+ "groups_containing_sampled_obj": [
176
+ "all",
177
+ "sweet_potato",
178
+ "vegetable",
179
+ "food",
180
+ "in_container",
181
+ "oven_ready"
182
+ ],
183
+ "groups": [
184
+ "food"
185
+ ],
186
+ "cat": "sweet_potato",
187
+ "split": "train",
188
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml"
189
+ },
190
+ "reset_region": {
191
+ "size": [
192
+ 0.9999999999999991,
193
+ 0.65
194
+ ],
195
+ "offset": [
196
+ 4.440892098500626e-16,
197
+ 0.0,
198
+ 0.46
199
+ ],
200
+ "name": "geom_0"
201
+ }
202
+ },
203
+ {
204
+ "name": "distr_counter",
205
+ "obj_groups": "all",
206
+ "placement": {
207
+ "fixture": "counter_2_right_group_1",
208
+ "sample_region_kwargs": {
209
+ "ref": "hingecabinet_3_right_group_1",
210
+ "min_size": [
211
+ 0.061569973499999986,
212
+ 0.07362725399999998,
213
+ 0.06187700774999999
214
+ ]
215
+ },
216
+ "size": [
217
+ 0.5,
218
+ 0.2
219
+ ],
220
+ "pos": [
221
+ "ref",
222
+ 1.0
223
+ ]
224
+ },
225
+ "type": "object",
226
+ "info": {
227
+ "groups_containing_sampled_obj": [
228
+ "all",
229
+ "lemon",
230
+ "vegetable",
231
+ "food",
232
+ "in_container",
233
+ "food_set1"
234
+ ],
235
+ "groups": [
236
+ "all"
237
+ ],
238
+ "cat": "lemon",
239
+ "split": "train",
240
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml"
241
+ },
242
+ "reset_region": {
243
+ "size": [
244
+ 0.9999999999999991,
245
+ 0.65
246
+ ],
247
+ "offset": [
248
+ 4.440892098500626e-16,
249
+ 0.0,
250
+ 0.46
251
+ ],
252
+ "name": "geom_0"
253
+ }
254
+ }
255
+ ],
256
+ "fixtures": {
257
+ "wall_main_1_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_1_backing_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_left_1_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_left_1_backing_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "wall_right_1_room": {
270
+ "cls": "Wall"
271
+ },
272
+ "wall_right_1_backing_room": {
273
+ "cls": "Wall"
274
+ },
275
+ "wall_main_2_room": {
276
+ "cls": "Wall"
277
+ },
278
+ "wall_main_2_backing_room": {
279
+ "cls": "Wall"
280
+ },
281
+ "wall_main_3.001_room": {
282
+ "cls": "Wall"
283
+ },
284
+ "wall_main_3.001_backing_room": {
285
+ "cls": "Wall"
286
+ },
287
+ "floor_1_room": {
288
+ "cls": "Floor"
289
+ },
290
+ "floor_1_backing_room": {
291
+ "cls": "Floor"
292
+ },
293
+ "floor_2.001_room": {
294
+ "cls": "Floor"
295
+ },
296
+ "floor_2.001_backing_room": {
297
+ "cls": "Floor"
298
+ },
299
+ "stool_1_room": {
300
+ "cls": "Stool"
301
+ },
302
+ "stool_2_room": {
303
+ "cls": "Stool"
304
+ },
305
+ "stool_3_room": {
306
+ "cls": "Stool"
307
+ },
308
+ "stool_4_room": {
309
+ "cls": "Stool"
310
+ },
311
+ "counter_2_right_group_1": {
312
+ "cls": "Counter"
313
+ },
314
+ "hingecabinet_1_right_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "hingecabinet_2_right_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "hingecabinet_3_right_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_1_right_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_right_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_1_right_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_2_right_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_2_right_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_2_right_group_1_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_right_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_3_right_group_1_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "stack_3_right_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "counter_1_right_group_1": {
351
+ "cls": "Counter"
352
+ },
353
+ "fridgefrenchdoor_right_group_1": {
354
+ "cls": "FridgeFrenchDoor"
355
+ },
356
+ "fridgefrenchdoor_housing_right_group_1": {
357
+ "cls": "HousingCabinet"
358
+ },
359
+ "hingecabinet_4_right_group_1": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "bottom_right_group_1_base": {
363
+ "cls": "Box"
364
+ },
365
+ "bottom_right_group_1_1": {
366
+ "cls": "Drawer"
367
+ },
368
+ "microwave_right_group_1": {
369
+ "cls": "Microwave"
370
+ },
371
+ "oven_cabinet_right_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "microwave_housing_right_group_1": {
375
+ "cls": "HousingCabinet"
376
+ },
377
+ "top_right_group_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "coffee_machine_right_group_1": {
381
+ "cls": "CoffeeMachine"
382
+ },
383
+ "toaster_right_group_1": {
384
+ "cls": "Toaster"
385
+ },
386
+ "hingecabinet_1_main_group_1": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "hingecabinet_2_main_group_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "singlecabinet_1_main_group_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "singlecabinet_2_main_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "counter_1_main_group_1": {
399
+ "cls": "Counter"
400
+ },
401
+ "counter_2_main_group_1": {
402
+ "cls": "Counter"
403
+ },
404
+ "widestove_main_group_1": {
405
+ "cls": "Stove"
406
+ },
407
+ "widestove_hood_main_group_1": {
408
+ "cls": "Hood"
409
+ },
410
+ "stack_1_main_group_1_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_1_main_group_1_1": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "stack_1_main_group_1_2": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_4_main_group_1_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_4_main_group_1_1": {
423
+ "cls": "HingeCabinet"
424
+ },
425
+ "stack_4_main_group_1_2": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_2_main_group_1_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_2_main_group_1_1": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_2_main_group_1_2": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_2_main_group_1_3": {
438
+ "cls": "Drawer"
439
+ },
440
+ "stack_3_main_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_3_main_group_1_1": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_3_main_group_1_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_3_main_group_1_3": {
450
+ "cls": "Drawer"
451
+ },
452
+ "knife_block_main_group_1": {
453
+ "cls": "Accessory"
454
+ },
455
+ "paper_towel_main_group_1": {
456
+ "cls": "Accessory"
457
+ },
458
+ "toaster_oven_main_group_1": {
459
+ "cls": "ToasterOven"
460
+ },
461
+ "sink_island_group_1": {
462
+ "cls": "Sink"
463
+ },
464
+ "island_island_group_1": {
465
+ "cls": "Counter"
466
+ },
467
+ "stack_2_island_group_1_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_2_island_group_1_1": {
471
+ "cls": "SingleCabinet"
472
+ },
473
+ "stack_2_island_group_1_2": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_1_island_group_1_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_1_island_group_1_1": {
480
+ "cls": "HingeCabinet"
481
+ },
482
+ "stack_1_island_group_1_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_3_island_group_1_base": {
486
+ "cls": "Box"
487
+ },
488
+ "stack_3_island_group_1_1": {
489
+ "cls": "HingeCabinet"
490
+ },
491
+ "stack_3_island_group_1_2": {
492
+ "cls": "PanelCabinet"
493
+ },
494
+ "stack_4_island_group_1_base": {
495
+ "cls": "Box"
496
+ },
497
+ "stack_4_island_group_1_1": {
498
+ "cls": "SingleCabinet"
499
+ },
500
+ "stack_4_island_group_1_2": {
501
+ "cls": "Drawer"
502
+ },
503
+ "cube_1_island_group_1": {
504
+ "cls": "Box"
505
+ },
506
+ "cube_2_island_group_1": {
507
+ "cls": "Box"
508
+ },
509
+ "cube_3_island_group_1": {
510
+ "cls": "Box"
511
+ },
512
+ "dishwasher_1_island_group_1": {
513
+ "cls": "Dishwasher"
514
+ }
515
+ },
516
+ "gen_textures": {},
517
+ "lang": "Pick both bowls and place them on the counter. Then place the eggplant in one bowl and place the sweet potato in the other bowl.",
518
+ "fixture_refs": {
519
+ "cab": "hingecabinet_3_right_group_1",
520
+ "counter": "counter_2_right_group_1"
521
+ },
522
+ "cam_configs": {
523
+ "robot0_agentview_center": {
524
+ "pos": [
525
+ -0.6,
526
+ 0.0,
527
+ 1.15
528
+ ],
529
+ "quat": [
530
+ 0.636945903301239,
531
+ 0.3325185477733612,
532
+ -0.3199238181114197,
533
+ -0.6175596117973328
534
+ ],
535
+ "parent_body": "mobilebase0_support"
536
+ },
537
+ "robot0_agentview_left": {
538
+ "pos": [
539
+ -0.5,
540
+ 0.35,
541
+ 1.05
542
+ ],
543
+ "quat": [
544
+ 0.55623853,
545
+ 0.29935253,
546
+ -0.37678665,
547
+ -0.6775092
548
+ ],
549
+ "camera_attribs": {
550
+ "fovy": "60"
551
+ },
552
+ "parent_body": "mobilebase0_support"
553
+ },
554
+ "robot0_agentview_right": {
555
+ "pos": [
556
+ -0.5,
557
+ -0.35,
558
+ 1.05
559
+ ],
560
+ "quat": [
561
+ 0.6775091886520386,
562
+ 0.3767866790294647,
563
+ -0.2993525564670563,
564
+ -0.55623859167099
565
+ ],
566
+ "camera_attribs": {
567
+ "fovy": "60"
568
+ },
569
+ "parent_body": "mobilebase0_support"
570
+ },
571
+ "robot0_frontview": {
572
+ "pos": [
573
+ -0.5,
574
+ 0,
575
+ 0.95
576
+ ],
577
+ "quat": [
578
+ 0.6088936924934387,
579
+ 0.3814677894115448,
580
+ -0.3673907518386841,
581
+ -0.5905545353889465
582
+ ],
583
+ "camera_attribs": {
584
+ "fovy": "60"
585
+ },
586
+ "parent_body": "mobilebase0_support"
587
+ },
588
+ "robot0_eye_in_hand": {
589
+ "pos": [
590
+ 0.05,
591
+ 0,
592
+ 0
593
+ ],
594
+ "quat": [
595
+ 0,
596
+ 0.707107,
597
+ 0.707107,
598
+ 0
599
+ ],
600
+ "parent_body": "robot0_right_hand"
601
+ }
602
+ },
603
+ "init_robot_base_pos": [
604
+ 5.896144851534221,
605
+ -2.3645168298770587,
606
+ 0.0
607
+ ],
608
+ "init_robot_base_ori": [
609
+ 0.0,
610
+ 0.0,
611
+ 0.00030199704781619374
612
+ ]
613
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000005/ep_meta.json ADDED
@@ -0,0 +1,583 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 55,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_1_main_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.980834,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_1_main_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.980834,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_1_main_group_1",
105
+ "min_size": [
106
+ 0.08333947649999997,
107
+ 0.08631646099999998,
108
+ 0.061421799999999985
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "bread",
125
+ "bread_food",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "bread",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 1.0413000000000003,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -0.1570999999999998,
143
+ 0.0,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_main_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "hingecabinet_1_main_group_1",
157
+ "min_size": [
158
+ 0.05318319076000001,
159
+ 0.09707054252000001,
160
+ 0.07255429020000001
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "bread",
177
+ "bread_food",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "bread",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 1.0413000000000003,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ -0.1570999999999998,
195
+ 0.0,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_1_main_group_1",
206
+ "sample_region_kwargs": {
207
+ "ref": "hingecabinet_1_main_group_1",
208
+ "min_size": [
209
+ 0.08947229999999999,
210
+ 0.0872781,
211
+ 0.008148
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "tomato_slice"
228
+ ],
229
+ "groups": [
230
+ "all"
231
+ ],
232
+ "cat": "tomato_slice",
233
+ "split": "train",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice003/model.xml"
235
+ },
236
+ "reset_region": {
237
+ "size": [
238
+ 1.0413000000000003,
239
+ 0.65
240
+ ],
241
+ "offset": [
242
+ -0.1570999999999998,
243
+ 0.0,
244
+ 0.46
245
+ ],
246
+ "name": "geom_0"
247
+ }
248
+ }
249
+ ],
250
+ "fixtures": {
251
+ "wall_right_1_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_1_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_main_1_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_1_backing_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "floor_1_room": {
264
+ "cls": "Floor"
265
+ },
266
+ "floor_1_backing_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "wallaccessory_2_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "wallaccessory_1_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "wallaccessory_3_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "wallaccessory_4_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "window_group_room": {
282
+ "cls": "Window"
283
+ },
284
+ "stool_1_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_2_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stool_3_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "stool_4_room": {
294
+ "cls": "Stool"
295
+ },
296
+ "fridgefrenchdoor_main_group_1": {
297
+ "cls": "FridgeFrenchDoor"
298
+ },
299
+ "fridgefrenchdoor_housing_main_group_1": {
300
+ "cls": "HousingCabinet"
301
+ },
302
+ "bottom_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "bottom_main_group_1_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "microwave_main_group_1": {
309
+ "cls": "Microwave"
310
+ },
311
+ "oven_cabinet_main_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "hingecabinet_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "microwave_housing_main_group_1": {
318
+ "cls": "HousingCabinet"
319
+ },
320
+ "top_main_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "hingecabinet_1_main_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "hingecabinet_3_main_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "singlecabinet_2_main_group_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "cube_1_main_group_1": {
333
+ "cls": "Box"
334
+ },
335
+ "counter_1_main_group_1": {
336
+ "cls": "Counter"
337
+ },
338
+ "counter_2_main_group_1": {
339
+ "cls": "Counter"
340
+ },
341
+ "counter_corner_1_main_group_1": {
342
+ "cls": "Counter"
343
+ },
344
+ "stove_main_group_1": {
345
+ "cls": "Stove"
346
+ },
347
+ "stove_hood_main_group_1": {
348
+ "cls": "Hood"
349
+ },
350
+ "stack_03_main_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_03_main_group_1_1": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_03_main_group_1_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_03_main_group_1_3": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_02_main_group_1_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_02_main_group_1_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_02_main_group_1_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_01_main_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_01_main_group_1_1": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "papertowel_main_group_1": {
378
+ "cls": "Accessory"
379
+ },
380
+ "coffee_machine_main_group_1": {
381
+ "cls": "CoffeeMachine"
382
+ },
383
+ "toaster_oven_main_group_1": {
384
+ "cls": "ToasterOven"
385
+ },
386
+ "opencabinet_1_right_group_1": {
387
+ "cls": "OpenCabinet"
388
+ },
389
+ "cube_3_right_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cube_4_right_group_1": {
393
+ "cls": "Box"
394
+ },
395
+ "hingecabinet_6_right_group_1": {
396
+ "cls": "HingeCabinet"
397
+ },
398
+ "hingecabinet_5_right_group_1": {
399
+ "cls": "HingeCabinet"
400
+ },
401
+ "sink_right_group_1": {
402
+ "cls": "Sink"
403
+ },
404
+ "counter_4_right_group_1": {
405
+ "cls": "Counter"
406
+ },
407
+ "stack_05_right_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_05_right_group_1_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_05_right_group_1_2": {
414
+ "cls": "PanelCabinet"
415
+ },
416
+ "stack_04_right_group_1_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_04_right_group_1_1": {
420
+ "cls": "SingleCabinet"
421
+ },
422
+ "stack_06_right_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_06_right_group_1_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "cube_2_right_group_1": {
429
+ "cls": "Box"
430
+ },
431
+ "cube_1_right_group_1": {
432
+ "cls": "Box"
433
+ },
434
+ "toaster_right_group_1": {
435
+ "cls": "Toaster"
436
+ },
437
+ "island_island_group_1": {
438
+ "cls": "Counter"
439
+ },
440
+ "stack_07_island_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_07_island_group_1_1": {
444
+ "cls": "SingleCabinet"
445
+ },
446
+ "stack_07_island_group_1_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_08_island_group_1_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_08_island_group_1_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_08_island_group_1_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "cube_3_island_group_1": {
459
+ "cls": "Box"
460
+ },
461
+ "cube_4_island_group_1": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_06_island_group_1_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_06_island_group_1_1": {
468
+ "cls": "SingleCabinet"
469
+ },
470
+ "stack_06_island_group_1_2": {
471
+ "cls": "Drawer"
472
+ },
473
+ "cube_1_island_group_1": {
474
+ "cls": "Box"
475
+ },
476
+ "cube_2_island_group_1": {
477
+ "cls": "Box"
478
+ },
479
+ "dishwasher_1_island_group_1": {
480
+ "cls": "Dishwasher"
481
+ },
482
+ "plant_island_group_1": {
483
+ "cls": "Accessory"
484
+ }
485
+ },
486
+ "gen_textures": {},
487
+ "lang": "Pick both bowls and place them on the counter. Then place the bread in one bowl and place the bread in the other bowl.",
488
+ "fixture_refs": {
489
+ "cab": "hingecabinet_1_main_group_1",
490
+ "counter": "counter_1_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
+ 4.250063205558059,
575
+ -0.9557120007636861,
576
+ 0.0
577
+ ],
578
+ "init_robot_base_ori": [
579
+ 0.0,
580
+ 0.0,
581
+ 1.5706379572530664
582
+ ]
583
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000006/ep_meta.json ADDED
@@ -0,0 +1,605 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_main_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.74,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_main_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.74,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_main_group",
105
+ "min_size": [
106
+ 0.0852368275144514,
107
+ 0.12627049048764677,
108
+ 0.07772736160054913
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "steak",
125
+ "meat",
126
+ "food",
127
+ "in_container",
128
+ "oven_ready"
129
+ ],
130
+ "groups": [
131
+ "food"
132
+ ],
133
+ "cat": "steak",
134
+ "split": "train",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 0.8000000000000012,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ 0.8599999999999994,
144
+ -3.469446951953614e-17,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food2",
152
+ "obj_groups": "food",
153
+ "graspable": true,
154
+ "placement": {
155
+ "fixture": "counter_1_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "cab_1_main_group",
158
+ "min_size": [
159
+ 0.06883066499999999,
160
+ 0.14894569499999996,
161
+ 0.10287241874999996
162
+ ]
163
+ },
164
+ "size": [
165
+ 0.6,
166
+ 0.3
167
+ ],
168
+ "pos": [
169
+ "ref",
170
+ -1.0
171
+ ]
172
+ },
173
+ "type": "object",
174
+ "info": {
175
+ "groups_containing_sampled_obj": [
176
+ "all",
177
+ "fish",
178
+ "meat",
179
+ "food",
180
+ "in_container",
181
+ "oven_ready"
182
+ ],
183
+ "groups": [
184
+ "food"
185
+ ],
186
+ "cat": "fish",
187
+ "split": "train",
188
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml"
189
+ },
190
+ "reset_region": {
191
+ "size": [
192
+ 0.8000000000000012,
193
+ 0.65
194
+ ],
195
+ "offset": [
196
+ 0.8599999999999994,
197
+ -3.469446951953614e-17,
198
+ 0.46
199
+ ],
200
+ "name": "geom_0"
201
+ }
202
+ },
203
+ {
204
+ "name": "distr_counter",
205
+ "obj_groups": "all",
206
+ "placement": {
207
+ "fixture": "counter_1_main_group",
208
+ "sample_region_kwargs": {
209
+ "ref": "cab_1_main_group",
210
+ "min_size": [
211
+ 0.11647435904999998,
212
+ 0.04890901500000001,
213
+ 0.20249999999999996
214
+ ]
215
+ },
216
+ "size": [
217
+ 0.5,
218
+ 0.2
219
+ ],
220
+ "pos": [
221
+ "ref",
222
+ 1.0
223
+ ]
224
+ },
225
+ "type": "object",
226
+ "info": {
227
+ "groups_containing_sampled_obj": [
228
+ "all",
229
+ "liquor",
230
+ "alcohol",
231
+ "drink"
232
+ ],
233
+ "groups": [
234
+ "all"
235
+ ],
236
+ "cat": "liquor",
237
+ "split": "train",
238
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml"
239
+ },
240
+ "reset_region": {
241
+ "size": [
242
+ 0.8000000000000012,
243
+ 0.65
244
+ ],
245
+ "offset": [
246
+ 0.8599999999999994,
247
+ -3.469446951953614e-17,
248
+ 0.46
249
+ ],
250
+ "name": "geom_0"
251
+ }
252
+ }
253
+ ],
254
+ "fixtures": {
255
+ "wall_left_1_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_left_1_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_main_1_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_main_1_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_right_1_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_right_1_backing_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_main_2_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_main_2_backing_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "floor_1_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_1_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "floor_2_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_2_backing_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "wall_accessory_1_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "wall_accessory_2_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "wall_accessory_3_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "wall_accessory_4_room": {
301
+ "cls": "WallAccessory"
302
+ },
303
+ "light_switch_1_room": {
304
+ "cls": "WallAccessory"
305
+ },
306
+ "window_group_1_room": {
307
+ "cls": "Window"
308
+ },
309
+ "window_group_2_room": {
310
+ "cls": "Window"
311
+ },
312
+ "window_group_3_room": {
313
+ "cls": "Window"
314
+ },
315
+ "window_group_4_room": {
316
+ "cls": "Window"
317
+ },
318
+ "stool_1_room": {
319
+ "cls": "Stool"
320
+ },
321
+ "stool_2_room": {
322
+ "cls": "Stool"
323
+ },
324
+ "stool_3_room": {
325
+ "cls": "Stool"
326
+ },
327
+ "counter_corner_main_group": {
328
+ "cls": "Counter"
329
+ },
330
+ "sink_1_main_group": {
331
+ "cls": "Sink"
332
+ },
333
+ "counter_1_main_group": {
334
+ "cls": "Counter"
335
+ },
336
+ "box_main_group": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_1_main_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_1_main_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_2_main_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_main_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "stack_3_main_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_3_main_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "stack_3_main_group_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_3_main_group_3": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_4_main_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_4_main_group_1": {
367
+ "cls": "SingleCabinet"
368
+ },
369
+ "stack_4_main_group_2": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "bottom_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "bottom_main_group_1": {
376
+ "cls": "Drawer"
377
+ },
378
+ "middle_main_group": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "microwave_main_group": {
382
+ "cls": "Microwave"
383
+ },
384
+ "microwave_housing_main_group": {
385
+ "cls": "HousingCabinet"
386
+ },
387
+ "top_main_group": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "cab_1_main_group": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "cab_2_main_group": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "toaster_main_group": {
397
+ "cls": "Toaster"
398
+ },
399
+ "paper_towel_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "counter_1_left_group": {
403
+ "cls": "Counter"
404
+ },
405
+ "stack_1_left_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_1_left_group_1": {
409
+ "cls": "SingleCabinet"
410
+ },
411
+ "stack_1_left_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_left_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_2_left_group_1": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_2_left_group_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_2_left_group_3": {
424
+ "cls": "Drawer"
425
+ },
426
+ "dishwasher_left_group": {
427
+ "cls": "Dishwasher"
428
+ },
429
+ "box_left_group": {
430
+ "cls": "Box"
431
+ },
432
+ "fridge_left_group": {
433
+ "cls": "FridgeBottomFreezer"
434
+ },
435
+ "fridge_housing_left_group": {
436
+ "cls": "HousingCabinet"
437
+ },
438
+ "fridge_top_left_group": {
439
+ "cls": "HingeCabinet"
440
+ },
441
+ "cab_1_left_group": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "coffee_machine_left_group": {
445
+ "cls": "CoffeeMachine"
446
+ },
447
+ "toaster_oven_left_group": {
448
+ "cls": "ToasterOven"
449
+ },
450
+ "counter_1_front_group": {
451
+ "cls": "Counter"
452
+ },
453
+ "stove_front_group": {
454
+ "cls": "Stove"
455
+ },
456
+ "counter_2_front_group": {
457
+ "cls": "Counter"
458
+ },
459
+ "counter_3_front_group": {
460
+ "cls": "Counter"
461
+ },
462
+ "counter_4_front_group": {
463
+ "cls": "Counter"
464
+ },
465
+ "counter_5_front_group": {
466
+ "cls": "Counter"
467
+ },
468
+ "stack_1_front_group_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_1_front_group_1": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "stack_1_front_group_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_2_front_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_2_front_group_1": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "stack_2_front_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_3_front_group_base": {
487
+ "cls": "Box"
488
+ },
489
+ "stack_3_front_group_1": {
490
+ "cls": "SingleCabinet"
491
+ },
492
+ "stack_3_front_group_2": {
493
+ "cls": "Drawer"
494
+ },
495
+ "box_1_front_group": {
496
+ "cls": "Box"
497
+ },
498
+ "box_2_front_group": {
499
+ "cls": "Box"
500
+ },
501
+ "box_3_front_group": {
502
+ "cls": "Box"
503
+ },
504
+ "hood_front_group": {
505
+ "cls": "Hood"
506
+ }
507
+ },
508
+ "gen_textures": {},
509
+ "lang": "Pick both bowls and place them on the counter. Then place the steak in one bowl and place the fish in the other bowl.",
510
+ "fixture_refs": {
511
+ "cab": "cab_1_main_group",
512
+ "counter": "counter_1_main_group"
513
+ },
514
+ "cam_configs": {
515
+ "robot0_agentview_center": {
516
+ "pos": [
517
+ -0.6,
518
+ 0.0,
519
+ 1.15
520
+ ],
521
+ "quat": [
522
+ 0.636945903301239,
523
+ 0.3325185477733612,
524
+ -0.3199238181114197,
525
+ -0.6175596117973328
526
+ ],
527
+ "parent_body": "mobilebase0_support"
528
+ },
529
+ "robot0_agentview_left": {
530
+ "pos": [
531
+ -0.5,
532
+ 0.35,
533
+ 1.05
534
+ ],
535
+ "quat": [
536
+ 0.55623853,
537
+ 0.29935253,
538
+ -0.37678665,
539
+ -0.6775092
540
+ ],
541
+ "camera_attribs": {
542
+ "fovy": "60"
543
+ },
544
+ "parent_body": "mobilebase0_support"
545
+ },
546
+ "robot0_agentview_right": {
547
+ "pos": [
548
+ -0.5,
549
+ -0.35,
550
+ 1.05
551
+ ],
552
+ "quat": [
553
+ 0.6775091886520386,
554
+ 0.3767866790294647,
555
+ -0.2993525564670563,
556
+ -0.55623859167099
557
+ ],
558
+ "camera_attribs": {
559
+ "fovy": "60"
560
+ },
561
+ "parent_body": "mobilebase0_support"
562
+ },
563
+ "robot0_frontview": {
564
+ "pos": [
565
+ -0.5,
566
+ 0,
567
+ 0.95
568
+ ],
569
+ "quat": [
570
+ 0.6088936924934387,
571
+ 0.3814677894115448,
572
+ -0.3673907518386841,
573
+ -0.5905545353889465
574
+ ],
575
+ "camera_attribs": {
576
+ "fovy": "60"
577
+ },
578
+ "parent_body": "mobilebase0_support"
579
+ },
580
+ "robot0_eye_in_hand": {
581
+ "pos": [
582
+ 0.05,
583
+ 0,
584
+ 0
585
+ ],
586
+ "quat": [
587
+ 0,
588
+ 0.707107,
589
+ 0.707107,
590
+ 0
591
+ ],
592
+ "parent_body": "robot0_right_hand"
593
+ }
594
+ },
595
+ "init_robot_base_pos": [
596
+ 2.8874963934311797,
597
+ -0.8436900427251373,
598
+ 0.0
599
+ ],
600
+ "init_robot_base_ori": [
601
+ 0.0,
602
+ 0.0,
603
+ 1.5707963267948966
604
+ ]
605
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000009/ep_meta.json ADDED
@@ -0,0 +1,592 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_left_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "stackable",
26
+ "receptacle",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.78,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_left_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "stackable",
72
+ "receptacle",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.78,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_left_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_left_group_1",
105
+ "min_size": [
106
+ 0.05318319076000001,
107
+ 0.09707054252000001,
108
+ 0.07255429020000001
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "bread",
125
+ "bread_food",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "bread",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 0.8399999999999999,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -0.8300000000000001,
143
+ -3.469446951953614e-17,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_left_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "cab_1_left_group_1",
157
+ "min_size": [
158
+ 0.06820440165000001,
159
+ 0.06787704892500002,
160
+ 0.06796698187500001
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "apple",
177
+ "fruit",
178
+ "food",
179
+ "in_container",
180
+ "food_set1",
181
+ "group1"
182
+ ],
183
+ "groups": [
184
+ "food"
185
+ ],
186
+ "cat": "apple",
187
+ "split": "train",
188
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_0/model.xml"
189
+ },
190
+ "reset_region": {
191
+ "size": [
192
+ 0.8399999999999999,
193
+ 0.65
194
+ ],
195
+ "offset": [
196
+ -0.8300000000000001,
197
+ -3.469446951953614e-17,
198
+ 0.46
199
+ ],
200
+ "name": "geom_0"
201
+ }
202
+ },
203
+ {
204
+ "name": "distr_counter",
205
+ "obj_groups": "all",
206
+ "placement": {
207
+ "fixture": "counter_1_left_group_1",
208
+ "sample_region_kwargs": {
209
+ "ref": "cab_1_left_group_1",
210
+ "min_size": [
211
+ 0.06004016399999999,
212
+ 0.060040236,
213
+ 0.1326396
214
+ ]
215
+ },
216
+ "size": [
217
+ 0.5,
218
+ 0.2
219
+ ],
220
+ "pos": [
221
+ "ref",
222
+ 1.0
223
+ ]
224
+ },
225
+ "type": "object",
226
+ "info": {
227
+ "groups_containing_sampled_obj": [
228
+ "all",
229
+ "cinnamon",
230
+ "spice"
231
+ ],
232
+ "groups": [
233
+ "all"
234
+ ],
235
+ "cat": "cinnamon",
236
+ "split": "train",
237
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon004/model.xml"
238
+ },
239
+ "reset_region": {
240
+ "size": [
241
+ 0.8399999999999999,
242
+ 0.65
243
+ ],
244
+ "offset": [
245
+ -0.8300000000000001,
246
+ -3.469446951953614e-17,
247
+ 0.46
248
+ ],
249
+ "name": "geom_0"
250
+ }
251
+ }
252
+ ],
253
+ "fixtures": {
254
+ "wall_left_1_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_left_1_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_1_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_main_1_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_main_3_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "wall_main_3_backing_room": {
270
+ "cls": "Wall"
271
+ },
272
+ "wall_main_2_room": {
273
+ "cls": "Wall"
274
+ },
275
+ "wall_main_2_backing_room": {
276
+ "cls": "Wall"
277
+ },
278
+ "wall_right_1_room": {
279
+ "cls": "Wall"
280
+ },
281
+ "wall_right_1_backing_room": {
282
+ "cls": "Wall"
283
+ },
284
+ "floor_1_room": {
285
+ "cls": "Floor"
286
+ },
287
+ "floor_1_backing_room": {
288
+ "cls": "Floor"
289
+ },
290
+ "wall_accessory_1_room": {
291
+ "cls": "WallAccessory"
292
+ },
293
+ "wall_accessory_2_room": {
294
+ "cls": "WallAccessory"
295
+ },
296
+ "wall_accessory_3_room": {
297
+ "cls": "WallAccessory"
298
+ },
299
+ "light_switch_1_room": {
300
+ "cls": "WallAccessory"
301
+ },
302
+ "window_group_room": {
303
+ "cls": "Window"
304
+ },
305
+ "stool_1_room": {
306
+ "cls": "Stool"
307
+ },
308
+ "stool_2_room": {
309
+ "cls": "Stool"
310
+ },
311
+ "sink_left_group_1": {
312
+ "cls": "Sink"
313
+ },
314
+ "counter_1_left_group_1": {
315
+ "cls": "Counter"
316
+ },
317
+ "stack_1_left_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_left_group_1_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_1_left_group_1_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_1_left_group_1_3": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_left_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_left_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_2_left_group_1_2": {
336
+ "cls": "PanelCabinet"
337
+ },
338
+ "stack_3_left_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_left_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_3_left_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_left_group_1_3": {
348
+ "cls": "Drawer"
349
+ },
350
+ "cab_1_left_group_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "cab_2_left_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "cab_3_left_group_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "bottom_left_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "bottom_left_group_1_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "middle_1_left_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "middle_2_left_group_1": {
369
+ "cls": "HingeCabinet"
370
+ },
371
+ "top_1_left_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "toaster_oven_left_group_1": {
375
+ "cls": "ToasterOven"
376
+ },
377
+ "counter_1_right_group_1": {
378
+ "cls": "Counter"
379
+ },
380
+ "counter_corner_right_group_1": {
381
+ "cls": "Counter"
382
+ },
383
+ "box_1_right_group_1": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_1_right_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_1_right_group_1_1": {
390
+ "cls": "SingleCabinet"
391
+ },
392
+ "stack_1_right_group_1_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "dishwasher_1_right_group_1": {
396
+ "cls": "Dishwasher"
397
+ },
398
+ "stack_2_right_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_2_right_group_1_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_2_right_group_1_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "box_2_right_group_1": {
408
+ "cls": "Box"
409
+ },
410
+ "cab_1_right_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "coffee_machine_right_group_1": {
414
+ "cls": "CoffeeMachine"
415
+ },
416
+ "toaster_right_group_1": {
417
+ "cls": "Toaster"
418
+ },
419
+ "paper_towel_right_group_1": {
420
+ "cls": "Accessory"
421
+ },
422
+ "counter_corner_1_main_group_3": {
423
+ "cls": "Counter"
424
+ },
425
+ "stove_main_group_3": {
426
+ "cls": "Stove"
427
+ },
428
+ "fridge_1_main_group_3": {
429
+ "cls": "FridgeBottomFreezer"
430
+ },
431
+ "fridge_1_housing_main_group_3": {
432
+ "cls": "HousingCabinet"
433
+ },
434
+ "top_1_main_group_3": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "cab_1_main_group_3": {
438
+ "cls": "OpenCabinet"
439
+ },
440
+ "microwave_main_group_3": {
441
+ "cls": "Microwave"
442
+ },
443
+ "cab_micro_main_group_3": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "cab_corner_main_group_3": {
447
+ "cls": "Box"
448
+ },
449
+ "dining_dining_area_group": {
450
+ "cls": "Counter"
451
+ },
452
+ "box_dining_area_group": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_1_dining_area_group_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_1_dining_area_group_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_1_dining_area_group_2": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_2_dining_area_group_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_2_dining_area_group_1": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_2_dining_area_group_2": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_2_dining_area_group_3": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_2_dining_area_group_4": {
477
+ "cls": "Drawer"
478
+ },
479
+ "stack_3_dining_area_group_base": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_3_dining_area_group_1": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_3_dining_area_group_2": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_3_dining_area_group_3": {
489
+ "cls": "Drawer"
490
+ },
491
+ "stack_3_dining_area_group_4": {
492
+ "cls": "Drawer"
493
+ }
494
+ },
495
+ "gen_textures": {},
496
+ "lang": "Pick both bowls and place them on the counter. Then place the bread in one bowl and place the apple in the other bowl.",
497
+ "fixture_refs": {
498
+ "cab": "cab_1_left_group_1",
499
+ "counter": "counter_1_left_group_1"
500
+ },
501
+ "cam_configs": {
502
+ "robot0_agentview_center": {
503
+ "pos": [
504
+ -0.6,
505
+ 0.0,
506
+ 1.15
507
+ ],
508
+ "quat": [
509
+ 0.636945903301239,
510
+ 0.3325185477733612,
511
+ -0.3199238181114197,
512
+ -0.6175596117973328
513
+ ],
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_agentview_left": {
517
+ "pos": [
518
+ -0.5,
519
+ 0.35,
520
+ 1.05
521
+ ],
522
+ "quat": [
523
+ 0.55623853,
524
+ 0.29935253,
525
+ -0.37678665,
526
+ -0.6775092
527
+ ],
528
+ "camera_attribs": {
529
+ "fovy": "60"
530
+ },
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_agentview_right": {
534
+ "pos": [
535
+ -0.5,
536
+ -0.35,
537
+ 1.05
538
+ ],
539
+ "quat": [
540
+ 0.6775091886520386,
541
+ 0.3767866790294647,
542
+ -0.2993525564670563,
543
+ -0.55623859167099
544
+ ],
545
+ "camera_attribs": {
546
+ "fovy": "60"
547
+ },
548
+ "parent_body": "mobilebase0_support"
549
+ },
550
+ "robot0_frontview": {
551
+ "pos": [
552
+ -0.5,
553
+ 0,
554
+ 0.95
555
+ ],
556
+ "quat": [
557
+ 0.6088936924934387,
558
+ 0.3814677894115448,
559
+ -0.3673907518386841,
560
+ -0.5905545353889465
561
+ ],
562
+ "camera_attribs": {
563
+ "fovy": "60"
564
+ },
565
+ "parent_body": "mobilebase0_support"
566
+ },
567
+ "robot0_eye_in_hand": {
568
+ "pos": [
569
+ 0.05,
570
+ 0,
571
+ 0
572
+ ],
573
+ "quat": [
574
+ 0,
575
+ 0.707107,
576
+ 0.707107,
577
+ 0
578
+ ],
579
+ "parent_body": "robot0_right_hand"
580
+ }
581
+ },
582
+ "init_robot_base_pos": [
583
+ 0.8237119578168617,
584
+ -2.7958747175356544,
585
+ 0.0
586
+ ],
587
+ "init_robot_base_ori": [
588
+ 0.0,
589
+ 0.0,
590
+ 3.1415926193612504
591
+ ]
592
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000010/ep_meta.json ADDED
@@ -0,0 +1,608 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_3_right_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.94,
45
+ 0.340555
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_3_right_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.94,
91
+ 0.340555
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_2_right_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_3_right_group_1",
105
+ "min_size": [
106
+ 0.06490043399999999,
107
+ 0.16696110549999996,
108
+ 0.05111708599999999
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "hotdog_bun",
125
+ "bread_food",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "hotdog_bun",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 0.9999999999999991,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ 4.440892098500626e-16,
143
+ 0.0,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_2_right_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "hingecabinet_3_right_group_1",
157
+ "min_size": [
158
+ 0.06629695839999997,
159
+ 0.07979124959999995,
160
+ 0.056484244799999965
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "cake",
177
+ "sweets",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "cake",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 0.9999999999999991,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ 4.440892098500626e-16,
195
+ 0.0,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_2_right_group_1",
206
+ "sample_region_kwargs": {
207
+ "ref": "hingecabinet_3_right_group_1",
208
+ "min_size": [
209
+ 0.08982056,
210
+ 0.08982056,
211
+ 0.19973605
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "soap_dispenser",
228
+ "cleaner"
229
+ ],
230
+ "groups": [
231
+ "all"
232
+ ],
233
+ "cat": "soap_dispenser",
234
+ "split": "train",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser001/model.xml"
236
+ },
237
+ "reset_region": {
238
+ "size": [
239
+ 0.9999999999999991,
240
+ 0.65
241
+ ],
242
+ "offset": [
243
+ 4.440892098500626e-16,
244
+ 0.0,
245
+ 0.46
246
+ ],
247
+ "name": "geom_0"
248
+ }
249
+ }
250
+ ],
251
+ "fixtures": {
252
+ "wall_main_1_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_main_1_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_left_1_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_left_1_backing_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_1_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_right_1_backing_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_main_2_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_main_2_backing_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_main_3.001_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "wall_main_3.001_backing_room": {
280
+ "cls": "Wall"
281
+ },
282
+ "floor_1_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "floor_1_backing_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_2.001_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "floor_2.001_backing_room": {
292
+ "cls": "Floor"
293
+ },
294
+ "stool_1_room": {
295
+ "cls": "Stool"
296
+ },
297
+ "stool_2_room": {
298
+ "cls": "Stool"
299
+ },
300
+ "stool_3_room": {
301
+ "cls": "Stool"
302
+ },
303
+ "stool_4_room": {
304
+ "cls": "Stool"
305
+ },
306
+ "counter_2_right_group_1": {
307
+ "cls": "Counter"
308
+ },
309
+ "hingecabinet_1_right_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "hingecabinet_2_right_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "hingecabinet_3_right_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "stack_1_right_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_1_right_group_1_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_1_right_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_2_right_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_2_right_group_1_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_2_right_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_3_right_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_3_right_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_3_right_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "counter_1_right_group_1": {
346
+ "cls": "Counter"
347
+ },
348
+ "fridgefrenchdoor_right_group_1": {
349
+ "cls": "FridgeFrenchDoor"
350
+ },
351
+ "fridgefrenchdoor_housing_right_group_1": {
352
+ "cls": "HousingCabinet"
353
+ },
354
+ "hingecabinet_4_right_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "bottom_right_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "bottom_right_group_1_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "microwave_right_group_1": {
364
+ "cls": "Microwave"
365
+ },
366
+ "oven_cabinet_right_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "microwave_housing_right_group_1": {
370
+ "cls": "HousingCabinet"
371
+ },
372
+ "top_right_group_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "coffee_machine_right_group_1": {
376
+ "cls": "CoffeeMachine"
377
+ },
378
+ "toaster_right_group_1": {
379
+ "cls": "Toaster"
380
+ },
381
+ "hingecabinet_1_main_group_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "hingecabinet_2_main_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "singlecabinet_1_main_group_1": {
388
+ "cls": "SingleCabinet"
389
+ },
390
+ "singlecabinet_2_main_group_1": {
391
+ "cls": "SingleCabinet"
392
+ },
393
+ "counter_1_main_group_1": {
394
+ "cls": "Counter"
395
+ },
396
+ "counter_2_main_group_1": {
397
+ "cls": "Counter"
398
+ },
399
+ "widestove_main_group_1": {
400
+ "cls": "Stove"
401
+ },
402
+ "widestove_hood_main_group_1": {
403
+ "cls": "Hood"
404
+ },
405
+ "stack_1_main_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_1_main_group_1_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_1_main_group_1_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_4_main_group_1_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_4_main_group_1_1": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "stack_4_main_group_1_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_2_main_group_1_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_2_main_group_1_1": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_2_main_group_1_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_2_main_group_1_3": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_3_main_group_1_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_3_main_group_1_1": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_3_main_group_1_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_3_main_group_1_3": {
445
+ "cls": "Drawer"
446
+ },
447
+ "knife_block_main_group_1": {
448
+ "cls": "Accessory"
449
+ },
450
+ "paper_towel_main_group_1": {
451
+ "cls": "Accessory"
452
+ },
453
+ "toaster_oven_main_group_1": {
454
+ "cls": "ToasterOven"
455
+ },
456
+ "sink_island_group_1": {
457
+ "cls": "Sink"
458
+ },
459
+ "island_island_group_1": {
460
+ "cls": "Counter"
461
+ },
462
+ "stack_2_island_group_1_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_2_island_group_1_1": {
466
+ "cls": "SingleCabinet"
467
+ },
468
+ "stack_2_island_group_1_2": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_1_island_group_1_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_1_island_group_1_1": {
475
+ "cls": "HingeCabinet"
476
+ },
477
+ "stack_1_island_group_1_2": {
478
+ "cls": "Drawer"
479
+ },
480
+ "stack_3_island_group_1_base": {
481
+ "cls": "Box"
482
+ },
483
+ "stack_3_island_group_1_1": {
484
+ "cls": "HingeCabinet"
485
+ },
486
+ "stack_3_island_group_1_2": {
487
+ "cls": "PanelCabinet"
488
+ },
489
+ "stack_4_island_group_1_base": {
490
+ "cls": "Box"
491
+ },
492
+ "stack_4_island_group_1_1": {
493
+ "cls": "SingleCabinet"
494
+ },
495
+ "stack_4_island_group_1_2": {
496
+ "cls": "Drawer"
497
+ },
498
+ "cube_1_island_group_1": {
499
+ "cls": "Box"
500
+ },
501
+ "cube_2_island_group_1": {
502
+ "cls": "Box"
503
+ },
504
+ "cube_3_island_group_1": {
505
+ "cls": "Box"
506
+ },
507
+ "dishwasher_1_island_group_1": {
508
+ "cls": "Dishwasher"
509
+ }
510
+ },
511
+ "gen_textures": {},
512
+ "lang": "Pick both bowls and place them on the counter. Then place the hotdog bun in one bowl and place the cake in the other bowl.",
513
+ "fixture_refs": {
514
+ "cab": "hingecabinet_3_right_group_1",
515
+ "counter": "counter_2_right_group_1"
516
+ },
517
+ "cam_configs": {
518
+ "robot0_agentview_center": {
519
+ "pos": [
520
+ -0.6,
521
+ 0.0,
522
+ 1.15
523
+ ],
524
+ "quat": [
525
+ 0.636945903301239,
526
+ 0.3325185477733612,
527
+ -0.3199238181114197,
528
+ -0.6175596117973328
529
+ ],
530
+ "parent_body": "mobilebase0_support"
531
+ },
532
+ "robot0_agentview_left": {
533
+ "pos": [
534
+ -0.5,
535
+ 0.35,
536
+ 1.05
537
+ ],
538
+ "quat": [
539
+ 0.55623853,
540
+ 0.29935253,
541
+ -0.37678665,
542
+ -0.6775092
543
+ ],
544
+ "camera_attribs": {
545
+ "fovy": "60"
546
+ },
547
+ "parent_body": "mobilebase0_support"
548
+ },
549
+ "robot0_agentview_right": {
550
+ "pos": [
551
+ -0.5,
552
+ -0.35,
553
+ 1.05
554
+ ],
555
+ "quat": [
556
+ 0.6775091886520386,
557
+ 0.3767866790294647,
558
+ -0.2993525564670563,
559
+ -0.55623859167099
560
+ ],
561
+ "camera_attribs": {
562
+ "fovy": "60"
563
+ },
564
+ "parent_body": "mobilebase0_support"
565
+ },
566
+ "robot0_frontview": {
567
+ "pos": [
568
+ -0.5,
569
+ 0,
570
+ 0.95
571
+ ],
572
+ "quat": [
573
+ 0.6088936924934387,
574
+ 0.3814677894115448,
575
+ -0.3673907518386841,
576
+ -0.5905545353889465
577
+ ],
578
+ "camera_attribs": {
579
+ "fovy": "60"
580
+ },
581
+ "parent_body": "mobilebase0_support"
582
+ },
583
+ "robot0_eye_in_hand": {
584
+ "pos": [
585
+ 0.05,
586
+ 0,
587
+ 0
588
+ ],
589
+ "quat": [
590
+ 0,
591
+ 0.707107,
592
+ 0.707107,
593
+ 0
594
+ ],
595
+ "parent_body": "robot0_right_hand"
596
+ }
597
+ },
598
+ "init_robot_base_pos": [
599
+ 5.890376076458377,
600
+ -2.4021516933058646,
601
+ 0.0
602
+ ],
603
+ "init_robot_base_ori": [
604
+ 0.0,
605
+ 0.0,
606
+ 0.00030199704781619374
607
+ ]
608
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000012/ep_meta.json ADDED
@@ -0,0 +1,693 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_6_main_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.47000000000000003
42
+ ],
43
+ "size": [
44
+ 1.44,
45
+ 0.34
46
+ ],
47
+ "height": 0.29333333333333333,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_6_main_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.47000000000000003
88
+ ],
89
+ "size": [
90
+ 1.44,
91
+ 0.34
92
+ ],
93
+ "height": 0.29333333333333333,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_6_main_group",
105
+ "min_size": [
106
+ 0.05855431554000001,
107
+ 0.06300000000000001,
108
+ 0.06098112153000001
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "apple",
125
+ "fruit",
126
+ "food",
127
+ "in_container",
128
+ "food_set1",
129
+ "group1"
130
+ ],
131
+ "groups": [
132
+ "food"
133
+ ],
134
+ "cat": "apple",
135
+ "split": "train",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 1.6999999999999993,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.5500000000000003,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food2",
153
+ "obj_groups": "food",
154
+ "graspable": true,
155
+ "placement": {
156
+ "fixture": "counter_1_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "cab_6_main_group",
159
+ "min_size": [
160
+ 0.06715230685627568,
161
+ 0.09280654851251298,
162
+ 0.07102568635516467
163
+ ]
164
+ },
165
+ "size": [
166
+ 0.6,
167
+ 0.3
168
+ ],
169
+ "pos": [
170
+ "ref",
171
+ -1.0
172
+ ]
173
+ },
174
+ "type": "object",
175
+ "info": {
176
+ "groups_containing_sampled_obj": [
177
+ "all",
178
+ "broccoli",
179
+ "vegetable",
180
+ "food",
181
+ "in_container",
182
+ "oven_ready"
183
+ ],
184
+ "groups": [
185
+ "food"
186
+ ],
187
+ "cat": "broccoli",
188
+ "split": "train",
189
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml"
190
+ },
191
+ "reset_region": {
192
+ "size": [
193
+ 1.6999999999999993,
194
+ 0.65
195
+ ],
196
+ "offset": [
197
+ 0.5500000000000003,
198
+ 0.0,
199
+ 0.46
200
+ ],
201
+ "name": "geom_0"
202
+ }
203
+ },
204
+ {
205
+ "name": "distr_counter",
206
+ "obj_groups": "all",
207
+ "placement": {
208
+ "fixture": "counter_1_main_group",
209
+ "sample_region_kwargs": {
210
+ "ref": "cab_6_main_group",
211
+ "min_size": [
212
+ 0.05855431554000001,
213
+ 0.06300000000000001,
214
+ 0.06098112153000001
215
+ ]
216
+ },
217
+ "size": [
218
+ 0.5,
219
+ 0.2
220
+ ],
221
+ "pos": [
222
+ "ref",
223
+ 1.0
224
+ ]
225
+ },
226
+ "type": "object",
227
+ "info": {
228
+ "groups_containing_sampled_obj": [
229
+ "all",
230
+ "apple",
231
+ "fruit",
232
+ "food",
233
+ "in_container",
234
+ "food_set1",
235
+ "group1"
236
+ ],
237
+ "groups": [
238
+ "all"
239
+ ],
240
+ "cat": "apple",
241
+ "split": "train",
242
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml"
243
+ },
244
+ "reset_region": {
245
+ "size": [
246
+ 1.6999999999999993,
247
+ 0.65
248
+ ],
249
+ "offset": [
250
+ 0.5500000000000003,
251
+ 0.0,
252
+ 0.46
253
+ ],
254
+ "name": "geom_0"
255
+ }
256
+ }
257
+ ],
258
+ "fixtures": {
259
+ "wall_main_1_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_main_1_backing_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_left_4_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_left_4_backing_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_right_1_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_right_1_backing_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "wall_left_1_room": {
278
+ "cls": "Wall"
279
+ },
280
+ "wall_left_1_backing_room": {
281
+ "cls": "Wall"
282
+ },
283
+ "wall_left_3_room": {
284
+ "cls": "Wall"
285
+ },
286
+ "wall_left_3_backing_room": {
287
+ "cls": "Wall"
288
+ },
289
+ "wall_left_2_room": {
290
+ "cls": "Wall"
291
+ },
292
+ "wall_left_2_backing_room": {
293
+ "cls": "Wall"
294
+ },
295
+ "wall_main_2_room": {
296
+ "cls": "Wall"
297
+ },
298
+ "wall_main_2_backing_room": {
299
+ "cls": "Wall"
300
+ },
301
+ "wall_front_1_room": {
302
+ "cls": "Wall"
303
+ },
304
+ "wall_front_1_backing_room": {
305
+ "cls": "Wall"
306
+ },
307
+ "floor_1_room": {
308
+ "cls": "Floor"
309
+ },
310
+ "floor_1_backing_room": {
311
+ "cls": "Floor"
312
+ },
313
+ "floor_2_room": {
314
+ "cls": "Floor"
315
+ },
316
+ "floor_2_backing_room": {
317
+ "cls": "Floor"
318
+ },
319
+ "light_switch_1_room": {
320
+ "cls": "WallAccessory"
321
+ },
322
+ "wall_accessory_1_room": {
323
+ "cls": "WallAccessory"
324
+ },
325
+ "light_switch_2_room": {
326
+ "cls": "WallAccessory"
327
+ },
328
+ "wall_accessory_2_room": {
329
+ "cls": "WallAccessory"
330
+ },
331
+ "stool_1_room": {
332
+ "cls": "Stool"
333
+ },
334
+ "stool_2_room": {
335
+ "cls": "Stool"
336
+ },
337
+ "stool_3_room": {
338
+ "cls": "Stool"
339
+ },
340
+ "stool_4_room": {
341
+ "cls": "Stool"
342
+ },
343
+ "bottom_main_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "bottom_main_group_1": {
347
+ "cls": "Drawer"
348
+ },
349
+ "oven_main_group": {
350
+ "cls": "Oven"
351
+ },
352
+ "oven_housing_main_group": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "microwave_main_group": {
356
+ "cls": "Microwave"
357
+ },
358
+ "microwave_housing_main_group": {
359
+ "cls": "HousingCabinet"
360
+ },
361
+ "middle_main_group": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "top_main_group": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "fridge_main_group": {
368
+ "cls": "FridgeSideBySide"
369
+ },
370
+ "fridge_housing_main_group": {
371
+ "cls": "HousingCabinet"
372
+ },
373
+ "counter_1_main_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "stack_1_main_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_1_main_group_1": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_1_main_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_1_main_group_3": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_2_main_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_main_group_1": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_2_main_group_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_2_main_group_3": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_3_main_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_main_group_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_main_group_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_3_main_group_3": {
410
+ "cls": "Drawer"
411
+ },
412
+ "dishwasher_main_group": {
413
+ "cls": "Dishwasher"
414
+ },
415
+ "panel_stack_main_group_base": {
416
+ "cls": "Box"
417
+ },
418
+ "panel_stack_main_group_1": {
419
+ "cls": "PanelCabinet"
420
+ },
421
+ "cab_1_main_group": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "cab_2_main_group": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "cab_3_main_group": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "cab_4_main_group": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "cab_5_main_group": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "cab_6_main_group": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "toaster_oven_main_group": {
440
+ "cls": "ToasterOven"
441
+ },
442
+ "paper_towel_main_group": {
443
+ "cls": "Accessory"
444
+ },
445
+ "stovetop_left_group": {
446
+ "cls": "Stovetop"
447
+ },
448
+ "counter_1_left_group": {
449
+ "cls": "Counter"
450
+ },
451
+ "stack_1_left_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_1_left_group_1": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_1_left_group_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_1_left_group_3": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_2_left_group_base": {
464
+ "cls": "Box"
465
+ },
466
+ "stack_2_left_group_1": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_2_left_group_2": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_2_left_group_3": {
473
+ "cls": "Drawer"
474
+ },
475
+ "stack_3_left_group_base": {
476
+ "cls": "Box"
477
+ },
478
+ "stack_3_left_group_1": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_3_left_group_2": {
482
+ "cls": "Drawer"
483
+ },
484
+ "stack_3_left_group_3": {
485
+ "cls": "PanelCabinet"
486
+ },
487
+ "stack_4_left_group_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_4_left_group_1": {
491
+ "cls": "Drawer"
492
+ },
493
+ "stack_4_left_group_2": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_4_left_group_3": {
497
+ "cls": "Drawer"
498
+ },
499
+ "stack_5_left_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_5_left_group_1": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_5_left_group_2": {
506
+ "cls": "Drawer"
507
+ },
508
+ "stack_5_left_group_3": {
509
+ "cls": "Drawer"
510
+ },
511
+ "hood_left_group": {
512
+ "cls": "Hood"
513
+ },
514
+ "cab_1_left_group": {
515
+ "cls": "HingeCabinet"
516
+ },
517
+ "cab_2_left_group": {
518
+ "cls": "HingeCabinet"
519
+ },
520
+ "cab_3_left_group": {
521
+ "cls": "HingeCabinet"
522
+ },
523
+ "cab_4_left_group": {
524
+ "cls": "HingeCabinet"
525
+ },
526
+ "coffee_machine_left_group": {
527
+ "cls": "CoffeeMachine"
528
+ },
529
+ "toaster_left_group": {
530
+ "cls": "Toaster"
531
+ },
532
+ "sink_island_group": {
533
+ "cls": "Sink"
534
+ },
535
+ "island_island_group": {
536
+ "cls": "Counter"
537
+ },
538
+ "panel_box_1_island_group_base": {
539
+ "cls": "Box"
540
+ },
541
+ "panel_box_1_island_group_1": {
542
+ "cls": "PanelCabinet"
543
+ },
544
+ "stack_1_island_group_base": {
545
+ "cls": "Box"
546
+ },
547
+ "stack_1_island_group_1": {
548
+ "cls": "Drawer"
549
+ },
550
+ "stack_1_island_group_2": {
551
+ "cls": "Drawer"
552
+ },
553
+ "stack_1_island_group_3": {
554
+ "cls": "Drawer"
555
+ },
556
+ "stack_2_island_group_base": {
557
+ "cls": "Box"
558
+ },
559
+ "stack_2_island_group_1": {
560
+ "cls": "SingleCabinet"
561
+ },
562
+ "stack_3_island_group_base": {
563
+ "cls": "Box"
564
+ },
565
+ "stack_3_island_group_1": {
566
+ "cls": "HingeCabinet"
567
+ },
568
+ "stack_4_island_group_base": {
569
+ "cls": "Box"
570
+ },
571
+ "stack_4_island_group_1": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "stack_5_island_group_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_5_island_group_1": {
578
+ "cls": "Drawer"
579
+ },
580
+ "stack_5_island_group_2": {
581
+ "cls": "Drawer"
582
+ },
583
+ "stack_5_island_group_3": {
584
+ "cls": "Drawer"
585
+ },
586
+ "panel_cab_2_island_group_base": {
587
+ "cls": "Box"
588
+ },
589
+ "panel_cab_2_island_group_1": {
590
+ "cls": "PanelCabinet"
591
+ },
592
+ "box_island_group": {
593
+ "cls": "Box"
594
+ }
595
+ },
596
+ "gen_textures": {},
597
+ "lang": "Pick both bowls and place them on the counter. Then place the apple in one bowl and place the broccoli in the other bowl.",
598
+ "fixture_refs": {
599
+ "cab": "cab_6_main_group",
600
+ "counter": "counter_1_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
+ 3.711435931078147,
685
+ -0.8465281892018304,
686
+ 0.0
687
+ ],
688
+ "init_robot_base_ori": [
689
+ 0.0,
690
+ 0.0,
691
+ 1.5707963267948966
692
+ ]
693
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000013/ep_meta.json ADDED
@@ -0,0 +1,623 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 18,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_left_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 1.04,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_left_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 1.04,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_left_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_left_group",
105
+ "min_size": [
106
+ 0.12204,
107
+ 0.14225279999999998,
108
+ 0.053881464
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "chicken_drumstick",
125
+ "meat",
126
+ "food",
127
+ "in_container",
128
+ "oven_ready"
129
+ ],
130
+ "groups": [
131
+ "food"
132
+ ],
133
+ "cat": "chicken_drumstick",
134
+ "split": "train",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 1.1999999999999997,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ -1.2000000000000002,
144
+ -3.469446951953614e-17,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food2",
152
+ "obj_groups": "food",
153
+ "graspable": true,
154
+ "placement": {
155
+ "fixture": "counter_1_left_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "cab_1_left_group",
158
+ "min_size": [
159
+ 0.06408269139999999,
160
+ 0.06382025779999997,
161
+ 0.06412384874999996
162
+ ]
163
+ },
164
+ "size": [
165
+ 0.6,
166
+ 0.3
167
+ ],
168
+ "pos": [
169
+ "ref",
170
+ -1.0
171
+ ]
172
+ },
173
+ "type": "object",
174
+ "info": {
175
+ "groups_containing_sampled_obj": [
176
+ "all",
177
+ "peach",
178
+ "fruit",
179
+ "food",
180
+ "in_container"
181
+ ],
182
+ "groups": [
183
+ "food"
184
+ ],
185
+ "cat": "peach",
186
+ "split": "train",
187
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
188
+ },
189
+ "reset_region": {
190
+ "size": [
191
+ 1.1999999999999997,
192
+ 0.65
193
+ ],
194
+ "offset": [
195
+ -1.2000000000000002,
196
+ -3.469446951953614e-17,
197
+ 0.46
198
+ ],
199
+ "name": "geom_0"
200
+ }
201
+ },
202
+ {
203
+ "name": "distr_counter",
204
+ "obj_groups": "all",
205
+ "placement": {
206
+ "fixture": "counter_1_left_group",
207
+ "sample_region_kwargs": {
208
+ "ref": "cab_1_left_group",
209
+ "min_size": [
210
+ 0.12239322999999999,
211
+ 0.12596432000000002,
212
+ 0.0237349
213
+ ]
214
+ },
215
+ "size": [
216
+ 0.5,
217
+ 0.2
218
+ ],
219
+ "pos": [
220
+ "ref",
221
+ 1.0
222
+ ]
223
+ },
224
+ "type": "object",
225
+ "info": {
226
+ "groups_containing_sampled_obj": [
227
+ "all",
228
+ "sandwich_bread",
229
+ "bread_food",
230
+ "food",
231
+ "in_container"
232
+ ],
233
+ "groups": [
234
+ "all"
235
+ ],
236
+ "cat": "sandwich_bread",
237
+ "split": "train",
238
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model.xml"
239
+ },
240
+ "reset_region": {
241
+ "size": [
242
+ 1.1999999999999997,
243
+ 0.65
244
+ ],
245
+ "offset": [
246
+ -1.2000000000000002,
247
+ -3.469446951953614e-17,
248
+ 0.46
249
+ ],
250
+ "name": "geom_0"
251
+ }
252
+ }
253
+ ],
254
+ "fixtures": {
255
+ "wall_main_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_main_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_right_1_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_1_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_left_1_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_left_1_backing_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_left_3_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_left_3_backing_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "wall_left_2_room": {
280
+ "cls": "Wall"
281
+ },
282
+ "wall_left_2_backing_room": {
283
+ "cls": "Wall"
284
+ },
285
+ "floor_1_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_1_backing_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "light_switch_1_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "light_switch_2_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "light_switch_3_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "light_switch_4_room": {
301
+ "cls": "WallAccessory"
302
+ },
303
+ "wall_accessory_1_room": {
304
+ "cls": "WallAccessory"
305
+ },
306
+ "light_switch_5_room": {
307
+ "cls": "WallAccessory"
308
+ },
309
+ "light_switch_6_room": {
310
+ "cls": "WallAccessory"
311
+ },
312
+ "light_switch_7_room": {
313
+ "cls": "WallAccessory"
314
+ },
315
+ "window_group_1_room": {
316
+ "cls": "Window"
317
+ },
318
+ "window_group_2_room": {
319
+ "cls": "Window"
320
+ },
321
+ "bottom_main_group_base": {
322
+ "cls": "Box"
323
+ },
324
+ "bottom_main_group_1": {
325
+ "cls": "Drawer"
326
+ },
327
+ "oven_main_group": {
328
+ "cls": "Oven"
329
+ },
330
+ "oven_housing_main_group": {
331
+ "cls": "HousingCabinet"
332
+ },
333
+ "microwave_main_group": {
334
+ "cls": "Microwave"
335
+ },
336
+ "microwave_housing_main_group": {
337
+ "cls": "HousingCabinet"
338
+ },
339
+ "top_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "fridge_main_group": {
343
+ "cls": "FridgeSideBySide"
344
+ },
345
+ "fridge_housing_main_group": {
346
+ "cls": "HousingCabinet"
347
+ },
348
+ "counter_1_main_group": {
349
+ "cls": "Counter"
350
+ },
351
+ "counter_corner_main_group": {
352
+ "cls": "Counter"
353
+ },
354
+ "stack_1_main_group_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_main_group_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "box_1_main_group": {
361
+ "cls": "Box"
362
+ },
363
+ "cab_1_main_group": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "cab_2_main_group": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "toaster_oven_main_group": {
370
+ "cls": "ToasterOven"
371
+ },
372
+ "plant_main_group": {
373
+ "cls": "Accessory"
374
+ },
375
+ "stovetop_left_group": {
376
+ "cls": "Stovetop"
377
+ },
378
+ "counter_1_left_group": {
379
+ "cls": "Counter"
380
+ },
381
+ "stack_1_left_group_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_left_group_1": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "stack_2_left_group_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_2_left_group_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_2_left_group_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_2_left_group_3": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_2_left_group_4": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_2_left_group_5": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_2_left_group_6": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_3_left_group_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_3_left_group_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_3_left_group_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_3_left_group_3": {
418
+ "cls": "PanelCabinet"
419
+ },
420
+ "stack_4_left_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_4_left_group_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_4_left_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_4_left_group_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_4_left_group_4": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_4_left_group_5": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_4_left_group_6": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_5_left_group_base": {
442
+ "cls": "Box"
443
+ },
444
+ "stack_5_left_group_1": {
445
+ "cls": "SingleCabinet"
446
+ },
447
+ "hood_left_group": {
448
+ "cls": "Hood"
449
+ },
450
+ "cab_1_left_group": {
451
+ "cls": "HingeCabinet"
452
+ },
453
+ "cab_2_left_group": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "paper_towel_left_group": {
457
+ "cls": "Accessory"
458
+ },
459
+ "coffee_machine_left_group": {
460
+ "cls": "CoffeeMachine"
461
+ },
462
+ "sink_1_right_group": {
463
+ "cls": "Sink"
464
+ },
465
+ "counter_1_right_group": {
466
+ "cls": "Counter"
467
+ },
468
+ "box_1_right_group": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_1_right_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_1_right_group_1": {
475
+ "cls": "SingleCabinet"
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_3_right_group_base": {
490
+ "cls": "Box"
491
+ },
492
+ "stack_3_right_group_1": {
493
+ "cls": "SingleCabinet"
494
+ },
495
+ "stack_4_right_group_base": {
496
+ "cls": "Box"
497
+ },
498
+ "stack_4_right_group_1": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "stack_5_right_group_base": {
502
+ "cls": "Box"
503
+ },
504
+ "stack_5_right_group_1": {
505
+ "cls": "HingeCabinet"
506
+ },
507
+ "dishwasher_1_right_group": {
508
+ "cls": "Dishwasher"
509
+ },
510
+ "panel_stack_right_group_base": {
511
+ "cls": "Box"
512
+ },
513
+ "panel_stack_right_group_1": {
514
+ "cls": "PanelCabinet"
515
+ },
516
+ "wall_stack_right_group_base": {
517
+ "cls": "Box"
518
+ },
519
+ "wall_stack_right_group_1": {
520
+ "cls": "HingeCabinet"
521
+ },
522
+ "toaster_right_group": {
523
+ "cls": "Toaster"
524
+ }
525
+ },
526
+ "gen_textures": {},
527
+ "lang": "Pick both bowls and place them on the counter. Then place the chicken drumstick in one bowl and place the peach in the other bowl.",
528
+ "fixture_refs": {
529
+ "cab": "cab_1_left_group",
530
+ "counter": "counter_1_left_group"
531
+ },
532
+ "cam_configs": {
533
+ "robot0_agentview_center": {
534
+ "pos": [
535
+ -0.6,
536
+ 0.0,
537
+ 1.15
538
+ ],
539
+ "quat": [
540
+ 0.636945903301239,
541
+ 0.3325185477733612,
542
+ -0.3199238181114197,
543
+ -0.6175596117973328
544
+ ],
545
+ "parent_body": "mobilebase0_support"
546
+ },
547
+ "robot0_agentview_left": {
548
+ "pos": [
549
+ -0.5,
550
+ 0.35,
551
+ 1.05
552
+ ],
553
+ "quat": [
554
+ 0.55623853,
555
+ 0.29935253,
556
+ -0.37678665,
557
+ -0.6775092
558
+ ],
559
+ "camera_attribs": {
560
+ "fovy": "60"
561
+ },
562
+ "parent_body": "mobilebase0_support"
563
+ },
564
+ "robot0_agentview_right": {
565
+ "pos": [
566
+ -0.5,
567
+ -0.35,
568
+ 1.05
569
+ ],
570
+ "quat": [
571
+ 0.6775091886520386,
572
+ 0.3767866790294647,
573
+ -0.2993525564670563,
574
+ -0.55623859167099
575
+ ],
576
+ "camera_attribs": {
577
+ "fovy": "60"
578
+ },
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_frontview": {
582
+ "pos": [
583
+ -0.5,
584
+ 0,
585
+ 0.95
586
+ ],
587
+ "quat": [
588
+ 0.6088936924934387,
589
+ 0.3814677894115448,
590
+ -0.3673907518386841,
591
+ -0.5905545353889465
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_eye_in_hand": {
599
+ "pos": [
600
+ 0.05,
601
+ 0,
602
+ 0
603
+ ],
604
+ "quat": [
605
+ 0,
606
+ 0.707107,
607
+ 0.707107,
608
+ 0
609
+ ],
610
+ "parent_body": "robot0_right_hand"
611
+ }
612
+ },
613
+ "init_robot_base_pos": [
614
+ 0.7774013629849578,
615
+ -5.602984635895391,
616
+ 0.0
617
+ ],
618
+ "init_robot_base_ori": [
619
+ 0.0,
620
+ 0.0,
621
+ 3.141592787948654
622
+ ]
623
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000016/ep_meta.json ADDED
@@ -0,0 +1,623 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 18,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_left_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 1.04,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_left_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 1.04,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_left_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_left_group",
105
+ "min_size": [
106
+ 0.052485888220760536,
107
+ 0.07075409086873356,
108
+ 0.05235486654311284
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "mushroom",
125
+ "vegetable",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "mushroom",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 1.1999999999999997,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -1.2000000000000002,
143
+ -3.469446951953614e-17,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_left_group",
155
+ "sample_region_kwargs": {
156
+ "ref": "cab_1_left_group",
157
+ "min_size": [
158
+ 0.13911105,
159
+ 0.016237249999999998,
160
+ 0.016010975
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "cream_cheese_stick",
177
+ "dairy",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "cream_cheese_stick",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick003/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 1.1999999999999997,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ -1.2000000000000002,
195
+ -3.469446951953614e-17,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_1_left_group",
206
+ "sample_region_kwargs": {
207
+ "ref": "cab_1_left_group",
208
+ "min_size": [
209
+ 0.04293534824000001,
210
+ 0.06672588944,
211
+ 0.04342970552
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "egg",
228
+ "dairy",
229
+ "food",
230
+ "in_container",
231
+ "food_set1"
232
+ ],
233
+ "groups": [
234
+ "all"
235
+ ],
236
+ "cat": "egg",
237
+ "split": "train",
238
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_10/model.xml"
239
+ },
240
+ "reset_region": {
241
+ "size": [
242
+ 1.1999999999999997,
243
+ 0.65
244
+ ],
245
+ "offset": [
246
+ -1.2000000000000002,
247
+ -3.469446951953614e-17,
248
+ 0.46
249
+ ],
250
+ "name": "geom_0"
251
+ }
252
+ }
253
+ ],
254
+ "fixtures": {
255
+ "wall_main_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_main_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_right_1_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_1_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_left_1_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_left_1_backing_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_left_3_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_left_3_backing_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "wall_left_2_room": {
280
+ "cls": "Wall"
281
+ },
282
+ "wall_left_2_backing_room": {
283
+ "cls": "Wall"
284
+ },
285
+ "floor_1_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_1_backing_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "light_switch_1_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "light_switch_2_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "light_switch_3_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "light_switch_4_room": {
301
+ "cls": "WallAccessory"
302
+ },
303
+ "wall_accessory_1_room": {
304
+ "cls": "WallAccessory"
305
+ },
306
+ "light_switch_5_room": {
307
+ "cls": "WallAccessory"
308
+ },
309
+ "light_switch_6_room": {
310
+ "cls": "WallAccessory"
311
+ },
312
+ "light_switch_7_room": {
313
+ "cls": "WallAccessory"
314
+ },
315
+ "window_group_1_room": {
316
+ "cls": "Window"
317
+ },
318
+ "window_group_2_room": {
319
+ "cls": "Window"
320
+ },
321
+ "bottom_main_group_base": {
322
+ "cls": "Box"
323
+ },
324
+ "bottom_main_group_1": {
325
+ "cls": "Drawer"
326
+ },
327
+ "oven_main_group": {
328
+ "cls": "Oven"
329
+ },
330
+ "oven_housing_main_group": {
331
+ "cls": "HousingCabinet"
332
+ },
333
+ "microwave_main_group": {
334
+ "cls": "Microwave"
335
+ },
336
+ "microwave_housing_main_group": {
337
+ "cls": "HousingCabinet"
338
+ },
339
+ "top_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "fridge_main_group": {
343
+ "cls": "FridgeSideBySide"
344
+ },
345
+ "fridge_housing_main_group": {
346
+ "cls": "HousingCabinet"
347
+ },
348
+ "counter_1_main_group": {
349
+ "cls": "Counter"
350
+ },
351
+ "counter_corner_main_group": {
352
+ "cls": "Counter"
353
+ },
354
+ "stack_1_main_group_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_main_group_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "box_1_main_group": {
361
+ "cls": "Box"
362
+ },
363
+ "cab_1_main_group": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "cab_2_main_group": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "toaster_oven_main_group": {
370
+ "cls": "ToasterOven"
371
+ },
372
+ "plant_main_group": {
373
+ "cls": "Accessory"
374
+ },
375
+ "stovetop_left_group": {
376
+ "cls": "Stovetop"
377
+ },
378
+ "counter_1_left_group": {
379
+ "cls": "Counter"
380
+ },
381
+ "stack_1_left_group_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_left_group_1": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "stack_2_left_group_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_2_left_group_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_2_left_group_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_2_left_group_3": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_2_left_group_4": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_2_left_group_5": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_2_left_group_6": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_3_left_group_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_3_left_group_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_3_left_group_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_3_left_group_3": {
418
+ "cls": "PanelCabinet"
419
+ },
420
+ "stack_4_left_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_4_left_group_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_4_left_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_4_left_group_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_4_left_group_4": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_4_left_group_5": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_4_left_group_6": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_5_left_group_base": {
442
+ "cls": "Box"
443
+ },
444
+ "stack_5_left_group_1": {
445
+ "cls": "SingleCabinet"
446
+ },
447
+ "hood_left_group": {
448
+ "cls": "Hood"
449
+ },
450
+ "cab_1_left_group": {
451
+ "cls": "HingeCabinet"
452
+ },
453
+ "cab_2_left_group": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "paper_towel_left_group": {
457
+ "cls": "Accessory"
458
+ },
459
+ "coffee_machine_left_group": {
460
+ "cls": "CoffeeMachine"
461
+ },
462
+ "sink_1_right_group": {
463
+ "cls": "Sink"
464
+ },
465
+ "counter_1_right_group": {
466
+ "cls": "Counter"
467
+ },
468
+ "box_1_right_group": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_1_right_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_1_right_group_1": {
475
+ "cls": "SingleCabinet"
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_3_right_group_base": {
490
+ "cls": "Box"
491
+ },
492
+ "stack_3_right_group_1": {
493
+ "cls": "SingleCabinet"
494
+ },
495
+ "stack_4_right_group_base": {
496
+ "cls": "Box"
497
+ },
498
+ "stack_4_right_group_1": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "stack_5_right_group_base": {
502
+ "cls": "Box"
503
+ },
504
+ "stack_5_right_group_1": {
505
+ "cls": "HingeCabinet"
506
+ },
507
+ "dishwasher_1_right_group": {
508
+ "cls": "Dishwasher"
509
+ },
510
+ "panel_stack_right_group_base": {
511
+ "cls": "Box"
512
+ },
513
+ "panel_stack_right_group_1": {
514
+ "cls": "PanelCabinet"
515
+ },
516
+ "wall_stack_right_group_base": {
517
+ "cls": "Box"
518
+ },
519
+ "wall_stack_right_group_1": {
520
+ "cls": "HingeCabinet"
521
+ },
522
+ "toaster_right_group": {
523
+ "cls": "Toaster"
524
+ }
525
+ },
526
+ "gen_textures": {},
527
+ "lang": "Pick both bowls and place them on the counter. Then place the mushroom in one bowl and place the cream cheese stick in the other bowl.",
528
+ "fixture_refs": {
529
+ "cab": "cab_1_left_group",
530
+ "counter": "counter_1_left_group"
531
+ },
532
+ "cam_configs": {
533
+ "robot0_agentview_center": {
534
+ "pos": [
535
+ -0.6,
536
+ 0.0,
537
+ 1.15
538
+ ],
539
+ "quat": [
540
+ 0.636945903301239,
541
+ 0.3325185477733612,
542
+ -0.3199238181114197,
543
+ -0.6175596117973328
544
+ ],
545
+ "parent_body": "mobilebase0_support"
546
+ },
547
+ "robot0_agentview_left": {
548
+ "pos": [
549
+ -0.5,
550
+ 0.35,
551
+ 1.05
552
+ ],
553
+ "quat": [
554
+ 0.55623853,
555
+ 0.29935253,
556
+ -0.37678665,
557
+ -0.6775092
558
+ ],
559
+ "camera_attribs": {
560
+ "fovy": "60"
561
+ },
562
+ "parent_body": "mobilebase0_support"
563
+ },
564
+ "robot0_agentview_right": {
565
+ "pos": [
566
+ -0.5,
567
+ -0.35,
568
+ 1.05
569
+ ],
570
+ "quat": [
571
+ 0.6775091886520386,
572
+ 0.3767866790294647,
573
+ -0.2993525564670563,
574
+ -0.55623859167099
575
+ ],
576
+ "camera_attribs": {
577
+ "fovy": "60"
578
+ },
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_frontview": {
582
+ "pos": [
583
+ -0.5,
584
+ 0,
585
+ 0.95
586
+ ],
587
+ "quat": [
588
+ 0.6088936924934387,
589
+ 0.3814677894115448,
590
+ -0.3673907518386841,
591
+ -0.5905545353889465
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_eye_in_hand": {
599
+ "pos": [
600
+ 0.05,
601
+ 0,
602
+ 0
603
+ ],
604
+ "quat": [
605
+ 0,
606
+ 0.707107,
607
+ 0.707107,
608
+ 0
609
+ ],
610
+ "parent_body": "robot0_right_hand"
611
+ }
612
+ },
613
+ "init_robot_base_pos": [
614
+ 0.7835419607155015,
615
+ -5.489927496979533,
616
+ 0.0
617
+ ],
618
+ "init_robot_base_ori": [
619
+ 0.0,
620
+ 0.0,
621
+ 3.141592787948654
622
+ ]
623
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000017/ep_meta.json ADDED
@@ -0,0 +1,595 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 57,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_2_main_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.590003,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_2_main_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.590003,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_2_main_group_1",
105
+ "min_size": [
106
+ 0.100986012,
107
+ 0.142728,
108
+ 0.0357024
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "chicken_drumstick",
125
+ "meat",
126
+ "food",
127
+ "in_container",
128
+ "oven_ready"
129
+ ],
130
+ "groups": [
131
+ "food"
132
+ ],
133
+ "cat": "chicken_drumstick",
134
+ "split": "train",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 0.6500839999999992,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ 1.0506000000000002,
144
+ -3.469446951953614e-17,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food2",
152
+ "obj_groups": "food",
153
+ "graspable": true,
154
+ "placement": {
155
+ "fixture": "counter_1_main_group_1",
156
+ "sample_region_kwargs": {
157
+ "ref": "hingecabinet_2_main_group_1",
158
+ "min_size": [
159
+ 0.04064816319999999,
160
+ 0.14436470859999995,
161
+ 0.04074787679999999
162
+ ]
163
+ },
164
+ "size": [
165
+ 0.6,
166
+ 0.3
167
+ ],
168
+ "pos": [
169
+ "ref",
170
+ -1.0
171
+ ]
172
+ },
173
+ "type": "object",
174
+ "info": {
175
+ "groups_containing_sampled_obj": [
176
+ "all",
177
+ "carrot",
178
+ "vegetable",
179
+ "food",
180
+ "in_container",
181
+ "food_set1",
182
+ "group1"
183
+ ],
184
+ "groups": [
185
+ "food"
186
+ ],
187
+ "cat": "carrot",
188
+ "split": "train",
189
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml"
190
+ },
191
+ "reset_region": {
192
+ "size": [
193
+ 0.6500839999999992,
194
+ 0.65
195
+ ],
196
+ "offset": [
197
+ 1.0506000000000002,
198
+ -3.469446951953614e-17,
199
+ 0.46
200
+ ],
201
+ "name": "geom_0"
202
+ }
203
+ },
204
+ {
205
+ "name": "distr_counter",
206
+ "obj_groups": "all",
207
+ "placement": {
208
+ "fixture": "counter_1_main_group_1",
209
+ "sample_region_kwargs": {
210
+ "ref": "hingecabinet_2_main_group_1",
211
+ "min_size": [
212
+ 0.06166207599999998,
213
+ 0.06545791279999998,
214
+ 0.06900705419999997
215
+ ]
216
+ },
217
+ "size": [
218
+ 0.5,
219
+ 0.2
220
+ ],
221
+ "pos": [
222
+ "ref",
223
+ 1.0
224
+ ]
225
+ },
226
+ "type": "object",
227
+ "info": {
228
+ "groups_containing_sampled_obj": [
229
+ "all",
230
+ "peach",
231
+ "fruit",
232
+ "food",
233
+ "in_container"
234
+ ],
235
+ "groups": [
236
+ "all"
237
+ ],
238
+ "cat": "peach",
239
+ "split": "train",
240
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml"
241
+ },
242
+ "reset_region": {
243
+ "size": [
244
+ 0.6500839999999992,
245
+ 0.65
246
+ ],
247
+ "offset": [
248
+ 1.0506000000000002,
249
+ -3.469446951953614e-17,
250
+ 0.46
251
+ ],
252
+ "name": "geom_0"
253
+ }
254
+ }
255
+ ],
256
+ "fixtures": {
257
+ "wall_right_1_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_right_1_backing_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_main_1_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_main_1_backing_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "floor_1_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "floor_1_backing_room": {
273
+ "cls": "Floor"
274
+ },
275
+ "wallaccessory_3_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "wallaccessory_4_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "lightswitch_01_room": {
282
+ "cls": "WallAccessory"
283
+ },
284
+ "window_group_1_room": {
285
+ "cls": "Window"
286
+ },
287
+ "stool_1_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stool_2_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "hingecabinet_2_main_group_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "hingecabinet_3_main_group_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "hingecabinet_4_main_group_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "singlecabinet_1_main_group_1": {
303
+ "cls": "SingleCabinet"
304
+ },
305
+ "sink_main_group_1": {
306
+ "cls": "Sink"
307
+ },
308
+ "counter_1_main_group_1": {
309
+ "cls": "Counter"
310
+ },
311
+ "cube_3_main_group_1": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_02_main_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_02_main_group_1_1": {
318
+ "cls": "SingleCabinet"
319
+ },
320
+ "stack_02_main_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_01_main_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_01_main_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_01_main_group_1_2": {
330
+ "cls": "PanelCabinet"
331
+ },
332
+ "stack_03_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_03_main_group_1_1": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "dishwasher_1_main_group_1": {
339
+ "cls": "Dishwasher"
340
+ },
341
+ "cube_9_main_group_1": {
342
+ "cls": "Box"
343
+ },
344
+ "toaster_main_group_1": {
345
+ "cls": "Toaster"
346
+ },
347
+ "fridgesidebyside_main_group_1": {
348
+ "cls": "FridgeSideBySide"
349
+ },
350
+ "fridgesidebyside_housing_main_group_1": {
351
+ "cls": "HousingCabinet"
352
+ },
353
+ "hingecabinet_1_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "bottom_main_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "bottom_main_group_1_1": {
360
+ "cls": "Drawer"
361
+ },
362
+ "oven_cabinet_main_group_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "microwave_main_group_1": {
366
+ "cls": "Microwave"
367
+ },
368
+ "microwave_housing_main_group_1": {
369
+ "cls": "HousingCabinet"
370
+ },
371
+ "top_main_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "hingecabinet_5_left_group_1": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "singlecabinet_2_left_group_1": {
378
+ "cls": "SingleCabinet"
379
+ },
380
+ "cube_4_left_group_1": {
381
+ "cls": "Box"
382
+ },
383
+ "counter_corner_1_left_group_1": {
384
+ "cls": "Counter"
385
+ },
386
+ "counter_2_left_group_1": {
387
+ "cls": "Counter"
388
+ },
389
+ "stack_04_left_group_1_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_04_left_group_1_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "stack_05_left_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_05_left_group_1_1": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_05_left_group_1_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_05_left_group_1_3": {
405
+ "cls": "Drawer"
406
+ },
407
+ "cube_10_left_group_1": {
408
+ "cls": "Box"
409
+ },
410
+ "cube_11_left_group_1": {
411
+ "cls": "Box"
412
+ },
413
+ "coffee_machine_left_group_1": {
414
+ "cls": "CoffeeMachine"
415
+ },
416
+ "paper_towel_left_group_1": {
417
+ "cls": "Accessory"
418
+ },
419
+ "island_1_island_group_1": {
420
+ "cls": "Counter"
421
+ },
422
+ "island_2_island_group_1": {
423
+ "cls": "Counter"
424
+ },
425
+ "island_3_island_group_1": {
426
+ "cls": "Counter"
427
+ },
428
+ "stove_island_group_1": {
429
+ "cls": "Stove"
430
+ },
431
+ "stove_hood_island_group_1": {
432
+ "cls": "Hood"
433
+ },
434
+ "cube_1_island_group_1": {
435
+ "cls": "Box"
436
+ },
437
+ "cube_2_island_group_1": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_07_island_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_07_island_group_1_1": {
444
+ "cls": "SingleCabinet"
445
+ },
446
+ "stack_07_island_group_1_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_06_island_group_1_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_06_island_group_1_1": {
453
+ "cls": "SingleCabinet"
454
+ },
455
+ "stack_06_island_group_1_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_09_island_group_2_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_09_island_group_2_1": {
462
+ "cls": "SingleCabinet"
463
+ },
464
+ "stack_09_island_group_2_2": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_08_island_group_2_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_08_island_group_2_1": {
471
+ "cls": "SingleCabinet"
472
+ },
473
+ "stack_08_island_group_2_2": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_10_island_group_2_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_10_island_group_2_1": {
480
+ "cls": "SingleCabinet"
481
+ },
482
+ "stack_10_island_group_2_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_11_island_group_2_base": {
486
+ "cls": "Box"
487
+ },
488
+ "stack_11_island_group_2_1": {
489
+ "cls": "SingleCabinet"
490
+ },
491
+ "stack_11_island_group_2_2": {
492
+ "cls": "Drawer"
493
+ },
494
+ "cube_5_island_group_2": {
495
+ "cls": "Box"
496
+ }
497
+ },
498
+ "gen_textures": {},
499
+ "lang": "Pick both bowls and place them on the counter. Then place the chicken drumstick in one bowl and place the carrot in the other bowl.",
500
+ "fixture_refs": {
501
+ "cab": "hingecabinet_2_main_group_1",
502
+ "counter": "counter_1_main_group_1"
503
+ },
504
+ "cam_configs": {
505
+ "robot0_agentview_center": {
506
+ "pos": [
507
+ -0.6,
508
+ 0.0,
509
+ 1.15
510
+ ],
511
+ "quat": [
512
+ 0.636945903301239,
513
+ 0.3325185477733612,
514
+ -0.3199238181114197,
515
+ -0.6175596117973328
516
+ ],
517
+ "parent_body": "mobilebase0_support"
518
+ },
519
+ "robot0_agentview_left": {
520
+ "pos": [
521
+ -0.5,
522
+ 0.35,
523
+ 1.05
524
+ ],
525
+ "quat": [
526
+ 0.55623853,
527
+ 0.29935253,
528
+ -0.37678665,
529
+ -0.6775092
530
+ ],
531
+ "camera_attribs": {
532
+ "fovy": "60"
533
+ },
534
+ "parent_body": "mobilebase0_support"
535
+ },
536
+ "robot0_agentview_right": {
537
+ "pos": [
538
+ -0.5,
539
+ -0.35,
540
+ 1.05
541
+ ],
542
+ "quat": [
543
+ 0.6775091886520386,
544
+ 0.3767866790294647,
545
+ -0.2993525564670563,
546
+ -0.55623859167099
547
+ ],
548
+ "camera_attribs": {
549
+ "fovy": "60"
550
+ },
551
+ "parent_body": "mobilebase0_support"
552
+ },
553
+ "robot0_frontview": {
554
+ "pos": [
555
+ -0.5,
556
+ 0,
557
+ 0.95
558
+ ],
559
+ "quat": [
560
+ 0.6088936924934387,
561
+ 0.3814677894115448,
562
+ -0.3673907518386841,
563
+ -0.5905545353889465
564
+ ],
565
+ "camera_attribs": {
566
+ "fovy": "60"
567
+ },
568
+ "parent_body": "mobilebase0_support"
569
+ },
570
+ "robot0_eye_in_hand": {
571
+ "pos": [
572
+ 0.05,
573
+ 0,
574
+ 0
575
+ ],
576
+ "quat": [
577
+ 0,
578
+ 0.707107,
579
+ 0.707107,
580
+ 0
581
+ ],
582
+ "parent_body": "robot0_right_hand"
583
+ }
584
+ },
585
+ "init_robot_base_pos": [
586
+ -0.8333607300717218,
587
+ -3.0734326310270395,
588
+ 0.0
589
+ ],
590
+ "init_robot_base_ori": [
591
+ 0.0,
592
+ 0.0,
593
+ -0.000175978787528841
594
+ ]
595
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000019/ep_meta.json ADDED
@@ -0,0 +1,664 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 17,
3
+ "style_id": 24,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_main_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.752,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_main_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.752,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_main_group_1",
105
+ "min_size": [
106
+ 0.0788622505,
107
+ 0.15373923349999996,
108
+ 0.056573767
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "hotdog_bun",
125
+ "bread_food",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "hotdog_bun",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 0.2919999999999998,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -2.0375,
143
+ -3.469446951953614e-17,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_main_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "cab_1_main_group_1",
157
+ "min_size": [
158
+ 0.07927373650812587,
159
+ 0.09602077883361064,
160
+ 0.08800877666079267
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "potato",
177
+ "vegetable",
178
+ "food",
179
+ "in_container",
180
+ "food_set1",
181
+ "oven_ready"
182
+ ],
183
+ "groups": [
184
+ "food"
185
+ ],
186
+ "cat": "potato",
187
+ "split": "train",
188
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml"
189
+ },
190
+ "reset_region": {
191
+ "size": [
192
+ 0.2919999999999998,
193
+ 0.65
194
+ ],
195
+ "offset": [
196
+ -2.0375,
197
+ -3.469446951953614e-17,
198
+ 0.46
199
+ ],
200
+ "name": "geom_0"
201
+ }
202
+ },
203
+ {
204
+ "name": "distr_counter",
205
+ "obj_groups": "all",
206
+ "placement": {
207
+ "fixture": "counter_1_main_group_1",
208
+ "sample_region_kwargs": {
209
+ "ref": "cab_1_main_group_1",
210
+ "min_size": [
211
+ 0.15076347300000004,
212
+ 0.156078678,
213
+ 0.049723065000000004
214
+ ]
215
+ },
216
+ "size": [
217
+ 0.5,
218
+ 0.2
219
+ ],
220
+ "pos": [
221
+ "ref",
222
+ 1.0
223
+ ]
224
+ },
225
+ "type": "object",
226
+ "info": {
227
+ "groups_containing_sampled_obj": [
228
+ "all",
229
+ "digital_scale",
230
+ "tool"
231
+ ],
232
+ "groups": [
233
+ "all"
234
+ ],
235
+ "cat": "digital_scale",
236
+ "split": "train",
237
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale006/model.xml"
238
+ },
239
+ "reset_region": {
240
+ "size": [
241
+ 0.2919999999999998,
242
+ 0.65
243
+ ],
244
+ "offset": [
245
+ -2.0375,
246
+ -3.469446951953614e-17,
247
+ 0.46
248
+ ],
249
+ "name": "geom_0"
250
+ }
251
+ }
252
+ ],
253
+ "fixtures": {
254
+ "wall_left_1_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_left_1_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_1_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_main_1_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_right_1_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "wall_right_1_backing_room": {
270
+ "cls": "Wall"
271
+ },
272
+ "window_group_room": {
273
+ "cls": "Window"
274
+ },
275
+ "floor_1_room": {
276
+ "cls": "Floor"
277
+ },
278
+ "floor_1_backing_room": {
279
+ "cls": "Floor"
280
+ },
281
+ "wall_accessory_1_room": {
282
+ "cls": "WallAccessory"
283
+ },
284
+ "wall_accessory_2_room": {
285
+ "cls": "WallAccessory"
286
+ },
287
+ "wall_accessory_3_room": {
288
+ "cls": "WallAccessory"
289
+ },
290
+ "wall_accessory_4_room": {
291
+ "cls": "WallAccessory"
292
+ },
293
+ "light_switch_1_room": {
294
+ "cls": "WallAccessory"
295
+ },
296
+ "wall_accessory_5_room": {
297
+ "cls": "WallAccessory"
298
+ },
299
+ "wall_accessory_6_room": {
300
+ "cls": "WallAccessory"
301
+ },
302
+ "stool_1_room": {
303
+ "cls": "Stool"
304
+ },
305
+ "stool_2_room": {
306
+ "cls": "Stool"
307
+ },
308
+ "stool_3_room": {
309
+ "cls": "Stool"
310
+ },
311
+ "counter_corner_1_main_group_1": {
312
+ "cls": "Counter"
313
+ },
314
+ "stovetop_main_group_1": {
315
+ "cls": "Stovetop"
316
+ },
317
+ "counter_1_main_group_1": {
318
+ "cls": "Counter"
319
+ },
320
+ "counter_corner_2_main_group_1": {
321
+ "cls": "Counter"
322
+ },
323
+ "box_1_main_group_1": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_main_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_1_main_group_1_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "stack_2_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_2_main_group_1_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_2_main_group_1_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_2_main_group_1_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_3_main_group_1_base": {
345
+ "cls": "Box"
346
+ },
347
+ "stack_3_main_group_1_1": {
348
+ "cls": "SingleCabinet"
349
+ },
350
+ "stack_4_main_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_4_main_group_1_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_5_main_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_5_main_group_1_1": {
360
+ "cls": "SingleCabinet"
361
+ },
362
+ "stack_6_main_group_1_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_6_main_group_1_1": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_6_main_group_1_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_6_main_group_1_3": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_7_main_group_1_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_7_main_group_1_1": {
378
+ "cls": "SingleCabinet"
379
+ },
380
+ "box_2_main_group_1": {
381
+ "cls": "Box"
382
+ },
383
+ "hood_main_group_1": {
384
+ "cls": "Hood"
385
+ },
386
+ "cab_corner_main_group_1": {
387
+ "cls": "Box"
388
+ },
389
+ "cab_1_main_group_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "cab_2_main_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "cab_3_main_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "cab_4_main_group_1": {
399
+ "cls": "HingeCabinet"
400
+ },
401
+ "cab_5_main_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "cab_6_main_group_1": {
405
+ "cls": "SingleCabinet"
406
+ },
407
+ "cab_corner_2_main_group_1": {
408
+ "cls": "Box"
409
+ },
410
+ "coffee_machine_main_group_1": {
411
+ "cls": "CoffeeMachine"
412
+ },
413
+ "toaster_main_group_1": {
414
+ "cls": "Toaster"
415
+ },
416
+ "paper_towel_main_group_1": {
417
+ "cls": "Accessory"
418
+ },
419
+ "knife_block_main_group_1": {
420
+ "cls": "Accessory"
421
+ },
422
+ "counter_1_left_group_1": {
423
+ "cls": "Counter"
424
+ },
425
+ "stack_1_left_group_1_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_1_left_group_1_1": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_1_left_group_1_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_1_left_group_1_3": {
435
+ "cls": "Drawer"
436
+ },
437
+ "box_left_group_1": {
438
+ "cls": "Box"
439
+ },
440
+ "bottom_left_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "bottom_left_group_1_1": {
444
+ "cls": "Drawer"
445
+ },
446
+ "oven_left_group_1": {
447
+ "cls": "Oven"
448
+ },
449
+ "oven_housing_left_group_1": {
450
+ "cls": "HousingCabinet"
451
+ },
452
+ "microwave_left_group_1": {
453
+ "cls": "Microwave"
454
+ },
455
+ "microwave_housing_left_group_1": {
456
+ "cls": "HousingCabinet"
457
+ },
458
+ "top_left_group_1": {
459
+ "cls": "HingeCabinet"
460
+ },
461
+ "fridge_1_left_group_1": {
462
+ "cls": "FridgeBottomFreezer"
463
+ },
464
+ "fridge_1_housing_left_group_1": {
465
+ "cls": "HousingCabinet"
466
+ },
467
+ "fridge_cabinet_left_group_1": {
468
+ "cls": "HingeCabinet"
469
+ },
470
+ "cab_1_left_group_1": {
471
+ "cls": "HingeCabinet"
472
+ },
473
+ "toaster_oven_left_group_1": {
474
+ "cls": "ToasterOven"
475
+ },
476
+ "box_right_group_1": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_1_right_group_1_base": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_1_right_group_1_1": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_1_right_group_1_2": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_1_right_group_1_3": {
489
+ "cls": "Drawer"
490
+ },
491
+ "stack_2_right_group_1_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_2_right_group_1_1": {
495
+ "cls": "Drawer"
496
+ },
497
+ "stack_2_right_group_1_2": {
498
+ "cls": "Drawer"
499
+ },
500
+ "stack_2_right_group_1_3": {
501
+ "cls": "Drawer"
502
+ },
503
+ "stack_3_right_group_1_base": {
504
+ "cls": "Box"
505
+ },
506
+ "stack_3_right_group_1_1": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "dishwasher_1_right_group_1": {
510
+ "cls": "Dishwasher"
511
+ },
512
+ "stack_4_right_group_1_base": {
513
+ "cls": "Box"
514
+ },
515
+ "stack_4_right_group_1_1": {
516
+ "cls": "Drawer"
517
+ },
518
+ "stack_4_right_group_1_2": {
519
+ "cls": "Drawer"
520
+ },
521
+ "stack_4_right_group_1_3": {
522
+ "cls": "Drawer"
523
+ },
524
+ "sink_1_right_group_1": {
525
+ "cls": "Sink"
526
+ },
527
+ "counter_1_right_group_1": {
528
+ "cls": "Counter"
529
+ },
530
+ "cab_1_right_group_1": {
531
+ "cls": "OpenCabinet"
532
+ },
533
+ "cab_2_right_group_1": {
534
+ "cls": "OpenCabinet"
535
+ },
536
+ "island_island_group_1": {
537
+ "cls": "Counter"
538
+ },
539
+ "stack_1_island_group_1_base": {
540
+ "cls": "Box"
541
+ },
542
+ "stack_1_island_group_1_1": {
543
+ "cls": "Drawer"
544
+ },
545
+ "stack_1_island_group_1_2": {
546
+ "cls": "Drawer"
547
+ },
548
+ "stack_2_island_group_1_base": {
549
+ "cls": "Box"
550
+ },
551
+ "stack_2_island_group_1_1": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_2_island_group_1_2": {
555
+ "cls": "Drawer"
556
+ },
557
+ "stack_3_island_group_1_base": {
558
+ "cls": "Box"
559
+ },
560
+ "stack_3_island_group_1_1": {
561
+ "cls": "Drawer"
562
+ },
563
+ "stack_3_island_group_1_2": {
564
+ "cls": "Drawer"
565
+ }
566
+ },
567
+ "gen_textures": {},
568
+ "lang": "Pick both bowls and place them on the counter. Then place the hotdog bun in one bowl and place the potato in the other bowl.",
569
+ "fixture_refs": {
570
+ "cab": "cab_1_main_group_1",
571
+ "counter": "counter_1_main_group_1"
572
+ },
573
+ "cam_configs": {
574
+ "robot0_agentview_center": {
575
+ "pos": [
576
+ -0.6,
577
+ 0.0,
578
+ 1.15
579
+ ],
580
+ "quat": [
581
+ 0.636945903301239,
582
+ 0.3325185477733612,
583
+ -0.3199238181114197,
584
+ -0.6175596117973328
585
+ ],
586
+ "parent_body": "mobilebase0_support"
587
+ },
588
+ "robot0_agentview_left": {
589
+ "pos": [
590
+ -0.5,
591
+ 0.35,
592
+ 1.05
593
+ ],
594
+ "quat": [
595
+ 0.55623853,
596
+ 0.29935253,
597
+ -0.37678665,
598
+ -0.6775092
599
+ ],
600
+ "camera_attribs": {
601
+ "fovy": "60"
602
+ },
603
+ "parent_body": "mobilebase0_support"
604
+ },
605
+ "robot0_agentview_right": {
606
+ "pos": [
607
+ -0.5,
608
+ -0.35,
609
+ 1.05
610
+ ],
611
+ "quat": [
612
+ 0.6775091886520386,
613
+ 0.3767866790294647,
614
+ -0.2993525564670563,
615
+ -0.55623859167099
616
+ ],
617
+ "camera_attribs": {
618
+ "fovy": "60"
619
+ },
620
+ "parent_body": "mobilebase0_support"
621
+ },
622
+ "robot0_frontview": {
623
+ "pos": [
624
+ -0.5,
625
+ 0,
626
+ 0.95
627
+ ],
628
+ "quat": [
629
+ 0.6088936924934387,
630
+ 0.3814677894115448,
631
+ -0.3673907518386841,
632
+ -0.5905545353889465
633
+ ],
634
+ "camera_attribs": {
635
+ "fovy": "60"
636
+ },
637
+ "parent_body": "mobilebase0_support"
638
+ },
639
+ "robot0_eye_in_hand": {
640
+ "pos": [
641
+ 0.05,
642
+ 0,
643
+ 0
644
+ ],
645
+ "quat": [
646
+ 0,
647
+ 0.707107,
648
+ 0.707107,
649
+ 0
650
+ ],
651
+ "parent_body": "robot0_right_hand"
652
+ }
653
+ },
654
+ "init_robot_base_pos": [
655
+ 0.9053588638786774,
656
+ -0.7757011709543782,
657
+ 0.0
658
+ ],
659
+ "init_robot_base_ori": [
660
+ 0.0,
661
+ 0.0,
662
+ 1.5707963267948966
663
+ ]
664
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000020/ep_meta.json ADDED
@@ -0,0 +1,602 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 42,
3
+ "style_id": 20,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_2_right_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "stackable",
26
+ "receptacle",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.592633,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_2_right_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "stackable",
72
+ "receptacle",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.592633,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_right_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_2_right_group_1",
105
+ "min_size": [
106
+ 0.06515116499999997,
107
+ 0.07499999999999997,
108
+ 0.07032914699999997
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "lime",
125
+ "vegetable",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "lime",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 0.6810163900648144,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -0.7584,
143
+ -3.469446951953614e-17,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_right_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "hingecabinet_2_right_group_1",
157
+ "min_size": [
158
+ 0.06408269139999999,
159
+ 0.06382025779999997,
160
+ 0.06412384874999996
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "peach",
177
+ "fruit",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "peach",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 0.6810163900648144,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ -0.7584,
195
+ -3.469446951953614e-17,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_1_right_group_1",
206
+ "sample_region_kwargs": {
207
+ "ref": "hingecabinet_2_right_group_1",
208
+ "min_size": [
209
+ 0.05139151424000001,
210
+ 0.05252662272000002,
211
+ 0.17534737968
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "bottled_water",
228
+ "drink"
229
+ ],
230
+ "groups": [
231
+ "all"
232
+ ],
233
+ "cat": "bottled_water",
234
+ "split": "train",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_10/model.xml"
236
+ },
237
+ "reset_region": {
238
+ "size": [
239
+ 0.6810163900648144,
240
+ 0.65
241
+ ],
242
+ "offset": [
243
+ -0.7584,
244
+ -3.469446951953614e-17,
245
+ 0.46
246
+ ],
247
+ "name": "geom_0"
248
+ }
249
+ }
250
+ ],
251
+ "fixtures": {
252
+ "wall_left_1_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_left_1_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_main_1_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_main_1_backing_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_right_1_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_right_1_backing_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_main_2_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_main_2_backing_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_main_3_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "wall_main_3_backing_room": {
280
+ "cls": "Wall"
281
+ },
282
+ "wall_main_4_room": {
283
+ "cls": "Wall"
284
+ },
285
+ "wall_main_4_backing_room": {
286
+ "cls": "Wall"
287
+ },
288
+ "wall_left_2_room": {
289
+ "cls": "Wall"
290
+ },
291
+ "wall_left_2_backing_room": {
292
+ "cls": "Wall"
293
+ },
294
+ "floor_1_room": {
295
+ "cls": "Floor"
296
+ },
297
+ "floor_1_backing_room": {
298
+ "cls": "Floor"
299
+ },
300
+ "floor_2_room": {
301
+ "cls": "Floor"
302
+ },
303
+ "floor_2_backing_room": {
304
+ "cls": "Floor"
305
+ },
306
+ "wallaccessory_room": {
307
+ "cls": "WallAccessory"
308
+ },
309
+ "lightswitch_room": {
310
+ "cls": "WallAccessory"
311
+ },
312
+ "wallaccessory.002_room": {
313
+ "cls": "WallAccessory"
314
+ },
315
+ "window_group_room": {
316
+ "cls": "Window"
317
+ },
318
+ "stool_1_room": {
319
+ "cls": "Stool"
320
+ },
321
+ "stool_2_room": {
322
+ "cls": "Stool"
323
+ },
324
+ "stool_4_room": {
325
+ "cls": "Stool"
326
+ },
327
+ "stool_3_room": {
328
+ "cls": "Stool"
329
+ },
330
+ "counter_1_main_group_1": {
331
+ "cls": "Counter"
332
+ },
333
+ "counter_corner_1_main_group_1": {
334
+ "cls": "Counter"
335
+ },
336
+ "stack_1_main_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_1_main_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cube_1_main_group_1": {
343
+ "cls": "Box"
344
+ },
345
+ "fridgefrenchdoor_main_group_1": {
346
+ "cls": "FridgeFrenchDoor"
347
+ },
348
+ "fridgefrenchdoor_housing_main_group_1": {
349
+ "cls": "HousingCabinet"
350
+ },
351
+ "hingecabinet_1_main_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "coffeemachine_main_group_1": {
355
+ "cls": "CoffeeMachine"
356
+ },
357
+ "papertowel_main_group_1": {
358
+ "cls": "Accessory"
359
+ },
360
+ "stovetop_right_group_1": {
361
+ "cls": "Stovetop"
362
+ },
363
+ "counter_1_right_group_1": {
364
+ "cls": "Counter"
365
+ },
366
+ "hingecabinet_3_right_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "hingecabinet_4_right_group_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "hingecabinet_1_right_group_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "hingecabinet_2_right_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_1_right_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_1_right_group_1_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "stack_2_right_group_1_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_2_right_group_1_1": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_2_right_group_1_2": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_2_right_group_1_3": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_3_right_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_3_right_group_1_1": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_3_right_group_1_2": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_3_right_group_1_3": {
406
+ "cls": "PanelCabinet"
407
+ },
408
+ "stack_4_right_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_4_right_group_1_1": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "stack_4_right_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "cube_1_right_group_1": {
418
+ "cls": "Box"
419
+ },
420
+ "bottom_right_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "bottom_right_group_1_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "oven_right_group_1": {
427
+ "cls": "Oven"
428
+ },
429
+ "oven_housing_right_group_1": {
430
+ "cls": "HousingCabinet"
431
+ },
432
+ "microwave_right_group_1": {
433
+ "cls": "Microwave"
434
+ },
435
+ "microwave_housing_right_group_1": {
436
+ "cls": "HousingCabinet"
437
+ },
438
+ "top_right_group_1": {
439
+ "cls": "HingeCabinet"
440
+ },
441
+ "toaster_right_group_1": {
442
+ "cls": "Toaster"
443
+ },
444
+ "counter_1_left_group_1": {
445
+ "cls": "Counter"
446
+ },
447
+ "stack_1_left_group_1_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_1_left_group_1_1": {
451
+ "cls": "HingeCabinet"
452
+ },
453
+ "stack_2_left_group_1_base": {
454
+ "cls": "Box"
455
+ },
456
+ "stack_2_left_group_1_1": {
457
+ "cls": "SingleCabinet"
458
+ },
459
+ "knifeblock_left_group_1": {
460
+ "cls": "Accessory"
461
+ },
462
+ "toaster_oven_left_group_1": {
463
+ "cls": "ToasterOven"
464
+ },
465
+ "plant_left_group_1": {
466
+ "cls": "Accessory"
467
+ },
468
+ "cube_1_island_group_1": {
469
+ "cls": "Box"
470
+ },
471
+ "cube_2_island_group_1": {
472
+ "cls": "Box"
473
+ },
474
+ "cube_3_island_group_1": {
475
+ "cls": "Box"
476
+ },
477
+ "sink_island_group_1": {
478
+ "cls": "Sink"
479
+ },
480
+ "island_island_group_1": {
481
+ "cls": "Counter"
482
+ },
483
+ "stack_1_island_group_1_base": {
484
+ "cls": "Box"
485
+ },
486
+ "stack_1_island_group_1_1": {
487
+ "cls": "SingleCabinet"
488
+ },
489
+ "stack_3_island_group_1_base": {
490
+ "cls": "Box"
491
+ },
492
+ "stack_3_island_group_1_1": {
493
+ "cls": "SingleCabinet"
494
+ },
495
+ "stack_2_island_group_1_base": {
496
+ "cls": "Box"
497
+ },
498
+ "stack_2_island_group_1_1": {
499
+ "cls": "HingeCabinet"
500
+ },
501
+ "dishwasher_1_island_group_1": {
502
+ "cls": "Dishwasher"
503
+ }
504
+ },
505
+ "gen_textures": {},
506
+ "lang": "Pick both bowls and place them on the counter. Then place the lime in one bowl and place the peach in the other bowl.",
507
+ "fixture_refs": {
508
+ "cab": "hingecabinet_2_right_group_1",
509
+ "counter": "counter_1_right_group_1"
510
+ },
511
+ "cam_configs": {
512
+ "robot0_agentview_center": {
513
+ "pos": [
514
+ -0.6,
515
+ 0.0,
516
+ 1.15
517
+ ],
518
+ "quat": [
519
+ 0.636945903301239,
520
+ 0.3325185477733612,
521
+ -0.3199238181114197,
522
+ -0.6175596117973328
523
+ ],
524
+ "parent_body": "mobilebase0_support"
525
+ },
526
+ "robot0_agentview_left": {
527
+ "pos": [
528
+ -0.5,
529
+ 0.35,
530
+ 1.05
531
+ ],
532
+ "quat": [
533
+ 0.55623853,
534
+ 0.29935253,
535
+ -0.37678665,
536
+ -0.6775092
537
+ ],
538
+ "camera_attribs": {
539
+ "fovy": "60"
540
+ },
541
+ "parent_body": "mobilebase0_support"
542
+ },
543
+ "robot0_agentview_right": {
544
+ "pos": [
545
+ -0.5,
546
+ -0.35,
547
+ 1.05
548
+ ],
549
+ "quat": [
550
+ 0.6775091886520386,
551
+ 0.3767866790294647,
552
+ -0.2993525564670563,
553
+ -0.55623859167099
554
+ ],
555
+ "camera_attribs": {
556
+ "fovy": "60"
557
+ },
558
+ "parent_body": "mobilebase0_support"
559
+ },
560
+ "robot0_frontview": {
561
+ "pos": [
562
+ -0.5,
563
+ 0,
564
+ 0.95
565
+ ],
566
+ "quat": [
567
+ 0.6088936924934387,
568
+ 0.3814677894115448,
569
+ -0.3673907518386841,
570
+ -0.5905545353889465
571
+ ],
572
+ "camera_attribs": {
573
+ "fovy": "60"
574
+ },
575
+ "parent_body": "mobilebase0_support"
576
+ },
577
+ "robot0_eye_in_hand": {
578
+ "pos": [
579
+ 0.05,
580
+ 0,
581
+ 0
582
+ ],
583
+ "quat": [
584
+ 0,
585
+ 0.707107,
586
+ 0.707107,
587
+ 0
588
+ ],
589
+ "parent_body": "robot0_right_hand"
590
+ }
591
+ },
592
+ "init_robot_base_pos": [
593
+ 4.3932177337157965,
594
+ -1.283196021007771,
595
+ 0.0
596
+ ],
597
+ "init_robot_base_ori": [
598
+ 0.0,
599
+ 0.0,
600
+ 0.00030199704781619374
601
+ ]
602
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000021/ep_meta.json ADDED
@@ -0,0 +1,643 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_5_main_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "stackable",
26
+ "receptacle",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 1.227805,
45
+ 0.309141
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_5_main_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "stackable",
72
+ "receptacle",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 1.227805,
91
+ 0.309141
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_3_main_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_5_main_group_1",
105
+ "min_size": [
106
+ 0.05704048680000002,
107
+ 0.059094555600000015,
108
+ 0.052538282400000004
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "tangerine",
125
+ "fruit",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "tangerine",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 1.2877069999999988,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -0.46400000000000063,
143
+ 0.0,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_3_main_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "hingecabinet_5_main_group_1",
157
+ "min_size": [
158
+ 0.0587092272,
159
+ 0.12123810348934207,
160
+ 0.06071863479918593
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "pear",
177
+ "fruit",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "pear",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 1.2877069999999988,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ -0.46400000000000063,
195
+ 0.0,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_3_main_group_1",
206
+ "sample_region_kwargs": {
207
+ "ref": "hingecabinet_5_main_group_1",
208
+ "min_size": [
209
+ 0.133751,
210
+ 0.025651824999999996,
211
+ 0.02516305
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "cream_cheese_stick",
228
+ "dairy",
229
+ "food",
230
+ "in_container"
231
+ ],
232
+ "groups": [
233
+ "all"
234
+ ],
235
+ "cat": "cream_cheese_stick",
236
+ "split": "train",
237
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick006/model.xml"
238
+ },
239
+ "reset_region": {
240
+ "size": [
241
+ 1.2877069999999988,
242
+ 0.65
243
+ ],
244
+ "offset": [
245
+ -0.46400000000000063,
246
+ 0.0,
247
+ 0.46
248
+ ],
249
+ "name": "geom_0"
250
+ }
251
+ }
252
+ ],
253
+ "fixtures": {
254
+ "wall_main_1_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_main_1_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_right_1_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_right_1_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "floor_1_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "floor_1_backing_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "wallaccessory_1_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "wallaccessory_2_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "wallaccessory_3_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "wallaccessory_4_room": {
282
+ "cls": "WallAccessory"
283
+ },
284
+ "lightswitch_02_room": {
285
+ "cls": "WallAccessory"
286
+ },
287
+ "lightswitch_03_room": {
288
+ "cls": "WallAccessory"
289
+ },
290
+ "stool_3_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "stool_2_room": {
294
+ "cls": "Stool"
295
+ },
296
+ "stool_1_room": {
297
+ "cls": "Stool"
298
+ },
299
+ "stack_13_island_group_2_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_13_island_group_2_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_04_island_group_2_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_04_island_group_2_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "stack_12_island_group_2_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_12_island_group_2_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "singlecabinet_2_main_group_1": {
318
+ "cls": "SingleCabinet"
319
+ },
320
+ "hingecabinet_5_main_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "hingecabinet_4_main_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "opencabinet_2_main_group_1": {
327
+ "cls": "OpenCabinet"
328
+ },
329
+ "opencabinet_3_main_group_1": {
330
+ "cls": "OpenCabinet"
331
+ },
332
+ "counter_2_main_group_1": {
333
+ "cls": "Counter"
334
+ },
335
+ "counter_corner_1_main_group_1": {
336
+ "cls": "Counter"
337
+ },
338
+ "counter_3_main_group_1": {
339
+ "cls": "Counter"
340
+ },
341
+ "stove_main_group_1": {
342
+ "cls": "Stove"
343
+ },
344
+ "stove_hood_main_group_1": {
345
+ "cls": "Hood"
346
+ },
347
+ "cube_4_main_group_1": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_11_main_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_11_main_group_1_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_03_main_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_03_main_group_1_1": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "stack_03_main_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_02_main_group_1_base": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_02_main_group_1_1": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "stack_04_main_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_04_main_group_1_1": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_04_main_group_1_2": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_04_main_group_1_3": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_08_main_group_1_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_08_main_group_1_1": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "stack_08_main_group_1_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_06_main_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_06_main_group_1_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "stack_07_main_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_07_main_group_1_1": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_07_main_group_1_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_07_main_group_1_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "cube_8_main_group_1": {
411
+ "cls": "Box"
412
+ },
413
+ "coffee_machine_main_group_1": {
414
+ "cls": "CoffeeMachine"
415
+ },
416
+ "papertowel_main_group_1": {
417
+ "cls": "Accessory"
418
+ },
419
+ "plant_main_group_1": {
420
+ "cls": "Accessory"
421
+ },
422
+ "toaster_oven_main_group_1": {
423
+ "cls": "ToasterOven"
424
+ },
425
+ "singlecabinet_1_right_group_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "hingecabinet_1_right_group_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "hingecabinet_9_right_group_1": {
432
+ "cls": "HingeCabinet"
433
+ },
434
+ "counter_1_right_group_1": {
435
+ "cls": "Counter"
436
+ },
437
+ "counter_8_right_group_1": {
438
+ "cls": "Counter"
439
+ },
440
+ "stack_6_right_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_6_right_group_1_1": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_6_right_group_1_2": {
447
+ "cls": "HingeCabinet"
448
+ },
449
+ "stack_4_right_group_1_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_4_right_group_1_1": {
453
+ "cls": "SingleCabinet"
454
+ },
455
+ "cube_11_right_group_1": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_7_right_group_1_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_7_right_group_1_1": {
462
+ "cls": "HingeCabinet"
463
+ },
464
+ "stack_7_right_group_1_2": {
465
+ "cls": "Drawer"
466
+ },
467
+ "cube_12_right_group_1": {
468
+ "cls": "Box"
469
+ },
470
+ "fridgefrenchdoor_right_group_1": {
471
+ "cls": "FridgeFrenchDoor"
472
+ },
473
+ "fridgefrenchdoor_housing_right_group_1": {
474
+ "cls": "HousingCabinet"
475
+ },
476
+ "bottom_right_group_1_base": {
477
+ "cls": "Box"
478
+ },
479
+ "bottom_right_group_1_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "oven_cabinet_right_group_1": {
483
+ "cls": "HingeCabinet"
484
+ },
485
+ "microwave_right_group_1": {
486
+ "cls": "Microwave"
487
+ },
488
+ "microwave_housing_right_group_1": {
489
+ "cls": "HousingCabinet"
490
+ },
491
+ "top_right_group_1": {
492
+ "cls": "HingeCabinet"
493
+ },
494
+ "hingecabinet_2_right_group_1": {
495
+ "cls": "HingeCabinet"
496
+ },
497
+ "toaster_right_group_1": {
498
+ "cls": "Toaster"
499
+ },
500
+ "sink_island_group_1": {
501
+ "cls": "Sink"
502
+ },
503
+ "island_island_group_1": {
504
+ "cls": "Counter"
505
+ },
506
+ "stack_11_island_group_1_base": {
507
+ "cls": "Box"
508
+ },
509
+ "stack_11_island_group_1_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "stack_11_island_group_1_2": {
513
+ "cls": "PanelCabinet"
514
+ },
515
+ "stack_09_island_group_1_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_09_island_group_1_1": {
519
+ "cls": "Drawer"
520
+ },
521
+ "stack_09_island_group_1_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_09_island_group_1_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "stack_10_island_group_1_base": {
528
+ "cls": "Box"
529
+ },
530
+ "stack_10_island_group_1_1": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_10_island_group_1_2": {
534
+ "cls": "Drawer"
535
+ },
536
+ "dishwasher_1_island_group_1": {
537
+ "cls": "Dishwasher"
538
+ },
539
+ "cube_1_island_group_1": {
540
+ "cls": "Box"
541
+ },
542
+ "cube_2_island_group_1": {
543
+ "cls": "Box"
544
+ }
545
+ },
546
+ "gen_textures": {},
547
+ "lang": "Pick both bowls and place them on the counter. Then place the tangerine in one bowl and place the pear in the other bowl.",
548
+ "fixture_refs": {
549
+ "cab": "hingecabinet_5_main_group_1",
550
+ "counter": "counter_3_main_group_1"
551
+ },
552
+ "cam_configs": {
553
+ "robot0_agentview_center": {
554
+ "pos": [
555
+ -0.6,
556
+ 0.0,
557
+ 1.15
558
+ ],
559
+ "quat": [
560
+ 0.636945903301239,
561
+ 0.3325185477733612,
562
+ -0.3199238181114197,
563
+ -0.6175596117973328
564
+ ],
565
+ "parent_body": "mobilebase0_support"
566
+ },
567
+ "robot0_agentview_left": {
568
+ "pos": [
569
+ -0.5,
570
+ 0.35,
571
+ 1.05
572
+ ],
573
+ "quat": [
574
+ 0.55623853,
575
+ 0.29935253,
576
+ -0.37678665,
577
+ -0.6775092
578
+ ],
579
+ "camera_attribs": {
580
+ "fovy": "60"
581
+ },
582
+ "parent_body": "mobilebase0_support"
583
+ },
584
+ "robot0_agentview_right": {
585
+ "pos": [
586
+ -0.5,
587
+ -0.35,
588
+ 1.05
589
+ ],
590
+ "quat": [
591
+ 0.6775091886520386,
592
+ 0.3767866790294647,
593
+ -0.2993525564670563,
594
+ -0.55623859167099
595
+ ],
596
+ "camera_attribs": {
597
+ "fovy": "60"
598
+ },
599
+ "parent_body": "mobilebase0_support"
600
+ },
601
+ "robot0_frontview": {
602
+ "pos": [
603
+ -0.5,
604
+ 0,
605
+ 0.95
606
+ ],
607
+ "quat": [
608
+ 0.6088936924934387,
609
+ 0.3814677894115448,
610
+ -0.3673907518386841,
611
+ -0.5905545353889465
612
+ ],
613
+ "camera_attribs": {
614
+ "fovy": "60"
615
+ },
616
+ "parent_body": "mobilebase0_support"
617
+ },
618
+ "robot0_eye_in_hand": {
619
+ "pos": [
620
+ 0.05,
621
+ 0,
622
+ 0
623
+ ],
624
+ "quat": [
625
+ 0,
626
+ 0.707107,
627
+ 0.707107,
628
+ 0
629
+ ],
630
+ "parent_body": "robot0_right_hand"
631
+ }
632
+ },
633
+ "init_robot_base_pos": [
634
+ 0.8943724824318952,
635
+ -0.8108492858949214,
636
+ 0.0
637
+ ],
638
+ "init_robot_base_ori": [
639
+ 0.0,
640
+ 0.0,
641
+ 1.57064844767067
642
+ ]
643
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000022/ep_meta.json ADDED
@@ -0,0 +1,605 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 45,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_main_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.74,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_1_main_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.74,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_1_main_group",
105
+ "min_size": [
106
+ 0.07388735999999997,
107
+ 0.09999999999999996,
108
+ 0.07365630199999997
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "potato",
125
+ "vegetable",
126
+ "food",
127
+ "in_container",
128
+ "food_set1",
129
+ "oven_ready"
130
+ ],
131
+ "groups": [
132
+ "food"
133
+ ],
134
+ "cat": "potato",
135
+ "split": "train",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.8000000000000016,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.8599999999999994,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food2",
153
+ "obj_groups": "food",
154
+ "graspable": true,
155
+ "placement": {
156
+ "fixture": "counter_1_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "cab_1_main_group",
159
+ "min_size": [
160
+ 0.06147772049999999,
161
+ 0.08868493147499999,
162
+ 0.0641568332475
163
+ ]
164
+ },
165
+ "size": [
166
+ 0.6,
167
+ 0.3
168
+ ],
169
+ "pos": [
170
+ "ref",
171
+ -1.0
172
+ ]
173
+ },
174
+ "type": "object",
175
+ "info": {
176
+ "groups_containing_sampled_obj": [
177
+ "all",
178
+ "mango",
179
+ "fruit",
180
+ "food",
181
+ "in_container"
182
+ ],
183
+ "groups": [
184
+ "food"
185
+ ],
186
+ "cat": "mango",
187
+ "split": "train",
188
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml"
189
+ },
190
+ "reset_region": {
191
+ "size": [
192
+ 0.8000000000000016,
193
+ 0.65
194
+ ],
195
+ "offset": [
196
+ 0.8599999999999994,
197
+ -3.469446951953614e-17,
198
+ 0.46
199
+ ],
200
+ "name": "geom_0"
201
+ }
202
+ },
203
+ {
204
+ "name": "distr_counter",
205
+ "obj_groups": "all",
206
+ "placement": {
207
+ "fixture": "counter_1_main_group",
208
+ "sample_region_kwargs": {
209
+ "ref": "cab_1_main_group",
210
+ "min_size": [
211
+ 0.094732,
212
+ 0.094042,
213
+ 0.11063924
214
+ ]
215
+ },
216
+ "size": [
217
+ 0.5,
218
+ 0.2
219
+ ],
220
+ "pos": [
221
+ "ref",
222
+ 1.0
223
+ ]
224
+ },
225
+ "type": "object",
226
+ "info": {
227
+ "groups_containing_sampled_obj": [
228
+ "all",
229
+ "glass_cup",
230
+ "receptacle",
231
+ "stackable"
232
+ ],
233
+ "groups": [
234
+ "all"
235
+ ],
236
+ "cat": "glass_cup",
237
+ "split": "train",
238
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml"
239
+ },
240
+ "reset_region": {
241
+ "size": [
242
+ 0.8000000000000016,
243
+ 0.65
244
+ ],
245
+ "offset": [
246
+ 0.8599999999999994,
247
+ -3.469446951953614e-17,
248
+ 0.46
249
+ ],
250
+ "name": "geom_0"
251
+ }
252
+ }
253
+ ],
254
+ "fixtures": {
255
+ "wall_left_1_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_left_1_backing_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_main_1_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_main_1_backing_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_right_1_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "wall_right_1_backing_room": {
271
+ "cls": "Wall"
272
+ },
273
+ "wall_main_2_room": {
274
+ "cls": "Wall"
275
+ },
276
+ "wall_main_2_backing_room": {
277
+ "cls": "Wall"
278
+ },
279
+ "floor_1_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_1_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "floor_2_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_2_backing_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "wall_accessory_1_room": {
292
+ "cls": "WallAccessory"
293
+ },
294
+ "wall_accessory_2_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "wall_accessory_3_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "wall_accessory_4_room": {
301
+ "cls": "WallAccessory"
302
+ },
303
+ "light_switch_1_room": {
304
+ "cls": "WallAccessory"
305
+ },
306
+ "window_group_1_room": {
307
+ "cls": "Window"
308
+ },
309
+ "window_group_2_room": {
310
+ "cls": "Window"
311
+ },
312
+ "window_group_3_room": {
313
+ "cls": "Window"
314
+ },
315
+ "window_group_4_room": {
316
+ "cls": "Window"
317
+ },
318
+ "stool_1_room": {
319
+ "cls": "Stool"
320
+ },
321
+ "stool_2_room": {
322
+ "cls": "Stool"
323
+ },
324
+ "stool_3_room": {
325
+ "cls": "Stool"
326
+ },
327
+ "counter_corner_main_group": {
328
+ "cls": "Counter"
329
+ },
330
+ "sink_1_main_group": {
331
+ "cls": "Sink"
332
+ },
333
+ "counter_1_main_group": {
334
+ "cls": "Counter"
335
+ },
336
+ "box_main_group": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_1_main_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_1_main_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_2_main_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_main_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "stack_3_main_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_3_main_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "stack_3_main_group_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_3_main_group_3": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_4_main_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_4_main_group_1": {
367
+ "cls": "SingleCabinet"
368
+ },
369
+ "stack_4_main_group_2": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "bottom_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "bottom_main_group_1": {
376
+ "cls": "Drawer"
377
+ },
378
+ "middle_main_group": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "microwave_main_group": {
382
+ "cls": "Microwave"
383
+ },
384
+ "microwave_housing_main_group": {
385
+ "cls": "HousingCabinet"
386
+ },
387
+ "top_main_group": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "cab_1_main_group": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "cab_2_main_group": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "toaster_main_group": {
397
+ "cls": "Toaster"
398
+ },
399
+ "paper_towel_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "counter_1_left_group": {
403
+ "cls": "Counter"
404
+ },
405
+ "stack_1_left_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_1_left_group_1": {
409
+ "cls": "SingleCabinet"
410
+ },
411
+ "stack_1_left_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_left_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_2_left_group_1": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_2_left_group_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_2_left_group_3": {
424
+ "cls": "Drawer"
425
+ },
426
+ "dishwasher_left_group": {
427
+ "cls": "Dishwasher"
428
+ },
429
+ "box_left_group": {
430
+ "cls": "Box"
431
+ },
432
+ "fridge_left_group": {
433
+ "cls": "FridgeBottomFreezer"
434
+ },
435
+ "fridge_housing_left_group": {
436
+ "cls": "HousingCabinet"
437
+ },
438
+ "fridge_top_left_group": {
439
+ "cls": "HingeCabinet"
440
+ },
441
+ "cab_1_left_group": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "coffee_machine_left_group": {
445
+ "cls": "CoffeeMachine"
446
+ },
447
+ "toaster_oven_left_group": {
448
+ "cls": "ToasterOven"
449
+ },
450
+ "counter_1_front_group": {
451
+ "cls": "Counter"
452
+ },
453
+ "stove_front_group": {
454
+ "cls": "Stove"
455
+ },
456
+ "counter_2_front_group": {
457
+ "cls": "Counter"
458
+ },
459
+ "counter_3_front_group": {
460
+ "cls": "Counter"
461
+ },
462
+ "counter_4_front_group": {
463
+ "cls": "Counter"
464
+ },
465
+ "counter_5_front_group": {
466
+ "cls": "Counter"
467
+ },
468
+ "stack_1_front_group_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_1_front_group_1": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "stack_1_front_group_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_2_front_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_2_front_group_1": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "stack_2_front_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_3_front_group_base": {
487
+ "cls": "Box"
488
+ },
489
+ "stack_3_front_group_1": {
490
+ "cls": "SingleCabinet"
491
+ },
492
+ "stack_3_front_group_2": {
493
+ "cls": "Drawer"
494
+ },
495
+ "box_1_front_group": {
496
+ "cls": "Box"
497
+ },
498
+ "box_2_front_group": {
499
+ "cls": "Box"
500
+ },
501
+ "box_3_front_group": {
502
+ "cls": "Box"
503
+ },
504
+ "hood_front_group": {
505
+ "cls": "Hood"
506
+ }
507
+ },
508
+ "gen_textures": {},
509
+ "lang": "Pick both bowls and place them on the counter. Then place the potato in one bowl and place the mango in the other bowl.",
510
+ "fixture_refs": {
511
+ "cab": "cab_1_main_group",
512
+ "counter": "counter_1_main_group"
513
+ },
514
+ "cam_configs": {
515
+ "robot0_agentview_center": {
516
+ "pos": [
517
+ -0.6,
518
+ 0.0,
519
+ 1.15
520
+ ],
521
+ "quat": [
522
+ 0.636945903301239,
523
+ 0.3325185477733612,
524
+ -0.3199238181114197,
525
+ -0.6175596117973328
526
+ ],
527
+ "parent_body": "mobilebase0_support"
528
+ },
529
+ "robot0_agentview_left": {
530
+ "pos": [
531
+ -0.5,
532
+ 0.35,
533
+ 1.05
534
+ ],
535
+ "quat": [
536
+ 0.55623853,
537
+ 0.29935253,
538
+ -0.37678665,
539
+ -0.6775092
540
+ ],
541
+ "camera_attribs": {
542
+ "fovy": "60"
543
+ },
544
+ "parent_body": "mobilebase0_support"
545
+ },
546
+ "robot0_agentview_right": {
547
+ "pos": [
548
+ -0.5,
549
+ -0.35,
550
+ 1.05
551
+ ],
552
+ "quat": [
553
+ 0.6775091886520386,
554
+ 0.3767866790294647,
555
+ -0.2993525564670563,
556
+ -0.55623859167099
557
+ ],
558
+ "camera_attribs": {
559
+ "fovy": "60"
560
+ },
561
+ "parent_body": "mobilebase0_support"
562
+ },
563
+ "robot0_frontview": {
564
+ "pos": [
565
+ -0.5,
566
+ 0,
567
+ 0.95
568
+ ],
569
+ "quat": [
570
+ 0.6088936924934387,
571
+ 0.3814677894115448,
572
+ -0.3673907518386841,
573
+ -0.5905545353889465
574
+ ],
575
+ "camera_attribs": {
576
+ "fovy": "60"
577
+ },
578
+ "parent_body": "mobilebase0_support"
579
+ },
580
+ "robot0_eye_in_hand": {
581
+ "pos": [
582
+ 0.05,
583
+ 0,
584
+ 0
585
+ ],
586
+ "quat": [
587
+ 0,
588
+ 0.707107,
589
+ 0.707107,
590
+ 0
591
+ ],
592
+ "parent_body": "robot0_right_hand"
593
+ }
594
+ },
595
+ "init_robot_base_pos": [
596
+ 2.8949862619376088,
597
+ -0.7998291449653783,
598
+ 0.0
599
+ ],
600
+ "init_robot_base_ori": [
601
+ 0.0,
602
+ 0.0,
603
+ 1.5707963267948966
604
+ ]
605
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000023/ep_meta.json ADDED
@@ -0,0 +1,523 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 34,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_2_left_group_1",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.825,
45
+ 0.3716
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "hingecabinet_2_left_group_1",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.825,
91
+ 0.3716
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_left_group_1",
103
+ "sample_region_kwargs": {
104
+ "ref": "hingecabinet_2_left_group_1",
105
+ "min_size": [
106
+ 0.06405487999999998,
107
+ 0.12499897124999998,
108
+ 0.06664654999999998
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "onion",
125
+ "vegetable",
126
+ "food",
127
+ "in_container"
128
+ ],
129
+ "groups": [
130
+ "food"
131
+ ],
132
+ "cat": "onion",
133
+ "split": "train",
134
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml"
135
+ },
136
+ "reset_region": {
137
+ "size": [
138
+ 1.1552028187310142,
139
+ 0.65
140
+ ],
141
+ "offset": [
142
+ -0.7054000000000005,
143
+ -3.469446951953614e-17,
144
+ 0.46
145
+ ],
146
+ "name": "geom_0"
147
+ }
148
+ },
149
+ {
150
+ "name": "food2",
151
+ "obj_groups": "food",
152
+ "graspable": true,
153
+ "placement": {
154
+ "fixture": "counter_1_left_group_1",
155
+ "sample_region_kwargs": {
156
+ "ref": "hingecabinet_2_left_group_1",
157
+ "min_size": [
158
+ 0.06922037449999999,
159
+ 0.14085241399999998,
160
+ 0.06430036399999998
161
+ ]
162
+ },
163
+ "size": [
164
+ 0.6,
165
+ 0.3
166
+ ],
167
+ "pos": [
168
+ "ref",
169
+ -1.0
170
+ ]
171
+ },
172
+ "type": "object",
173
+ "info": {
174
+ "groups_containing_sampled_obj": [
175
+ "all",
176
+ "hotdog_bun",
177
+ "bread_food",
178
+ "food",
179
+ "in_container"
180
+ ],
181
+ "groups": [
182
+ "food"
183
+ ],
184
+ "cat": "hotdog_bun",
185
+ "split": "train",
186
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml"
187
+ },
188
+ "reset_region": {
189
+ "size": [
190
+ 1.1552028187310142,
191
+ 0.65
192
+ ],
193
+ "offset": [
194
+ -0.7054000000000005,
195
+ -3.469446951953614e-17,
196
+ 0.46
197
+ ],
198
+ "name": "geom_0"
199
+ }
200
+ },
201
+ {
202
+ "name": "distr_counter",
203
+ "obj_groups": "all",
204
+ "placement": {
205
+ "fixture": "counter_1_left_group_1",
206
+ "sample_region_kwargs": {
207
+ "ref": "hingecabinet_2_left_group_1",
208
+ "min_size": [
209
+ 0.0587092272,
210
+ 0.12123810348934207,
211
+ 0.06071863479918593
212
+ ]
213
+ },
214
+ "size": [
215
+ 0.5,
216
+ 0.2
217
+ ],
218
+ "pos": [
219
+ "ref",
220
+ 1.0
221
+ ]
222
+ },
223
+ "type": "object",
224
+ "info": {
225
+ "groups_containing_sampled_obj": [
226
+ "all",
227
+ "pear",
228
+ "fruit",
229
+ "food",
230
+ "in_container"
231
+ ],
232
+ "groups": [
233
+ "all"
234
+ ],
235
+ "cat": "pear",
236
+ "split": "train",
237
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
238
+ },
239
+ "reset_region": {
240
+ "size": [
241
+ 1.1552028187310142,
242
+ 0.65
243
+ ],
244
+ "offset": [
245
+ -0.7054000000000005,
246
+ -3.469446951953614e-17,
247
+ 0.46
248
+ ],
249
+ "name": "geom_0"
250
+ }
251
+ }
252
+ ],
253
+ "fixtures": {
254
+ "wall_main_1_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_main_1_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_left_1_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_left_1_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "floor_1_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "floor_1_backing_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "stool_2_room": {
273
+ "cls": "Stool"
274
+ },
275
+ "stool_3_room": {
276
+ "cls": "Stool"
277
+ },
278
+ "stool_4_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_1_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stovetop_left_group_1": {
285
+ "cls": "Stovetop"
286
+ },
287
+ "counter_1_left_group_1": {
288
+ "cls": "Counter"
289
+ },
290
+ "hingecabinet_4_left_group_1": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "hingecabinet_3_left_group_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "hingecabinet_2_left_group_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "singlecabinet_1_left_group_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "bottom_left_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "bottom_left_group_1_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "oven_left_group_1": {
309
+ "cls": "Oven"
310
+ },
311
+ "microwave_left_group_1": {
312
+ "cls": "Microwave"
313
+ },
314
+ "fridgefrenchdoor_left_group_1": {
315
+ "cls": "FridgeFrenchDoor"
316
+ },
317
+ "fridgefrenchdoor_housing_left_group_1": {
318
+ "cls": "HousingCabinet"
319
+ },
320
+ "oven_housing_left_group_1": {
321
+ "cls": "HousingCabinet"
322
+ },
323
+ "hingecabinet_1_left_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "microwave_housing_left_group_1": {
327
+ "cls": "HousingCabinet"
328
+ },
329
+ "top_left_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_3_left_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_3_left_group_1_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_left_group_1_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_left_group_1_3": {
342
+ "cls": "PanelCabinet"
343
+ },
344
+ "stack_2_left_group_1_base": {
345
+ "cls": "Box"
346
+ },
347
+ "stack_2_left_group_1_1": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_2_left_group_1_2": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_2_left_group_1_3": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_4_left_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_4_left_group_1_1": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_4_left_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_4_left_group_1_3": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_1_left_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_1_left_group_1_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "coffee_machine_left_group_1": {
375
+ "cls": "CoffeeMachine"
376
+ },
377
+ "toaster_left_group_1": {
378
+ "cls": "Toaster"
379
+ },
380
+ "toaster_oven_left_group_1": {
381
+ "cls": "ToasterOven"
382
+ },
383
+ "sink_island_group_1": {
384
+ "cls": "Sink"
385
+ },
386
+ "island_island_group_1": {
387
+ "cls": "Counter"
388
+ },
389
+ "cube_1_island_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cube_2_island_group_1": {
393
+ "cls": "Box"
394
+ },
395
+ "cube_3_island_group_1": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_2_island_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_2_island_group_1_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_island_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_3_island_group_1_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_1_island_group_1_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_1_island_group_1_1": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "cube_4_island_group_1": {
417
+ "cls": "Box"
418
+ },
419
+ "dishwasher_1_island_group_1": {
420
+ "cls": "Dishwasher"
421
+ },
422
+ "paper_towel_island_group_1": {
423
+ "cls": "Accessory"
424
+ }
425
+ },
426
+ "gen_textures": {},
427
+ "lang": "Pick both bowls and place them on the counter. Then place the onion in one bowl and place the hotdog bun in the other bowl.",
428
+ "fixture_refs": {
429
+ "cab": "hingecabinet_2_left_group_1",
430
+ "counter": "counter_1_left_group_1"
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
+ 0.8195846712006802,
515
+ -3.196585171282431,
516
+ 0.0
517
+ ],
518
+ "init_robot_base_ori": [
519
+ 0.0,
520
+ 0.0,
521
+ 3.1412906566438026
522
+ ]
523
+ }
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000026/ep_meta.json ADDED
@@ -0,0 +1,687 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 15,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "receptacle1",
7
+ "obj_groups": "bowl",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_2_main_group",
11
+ "size": [
12
+ 0.4,
13
+ 0.4
14
+ ],
15
+ "pos": [
16
+ -1.0,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bowl",
25
+ "receptacle",
26
+ "stackable",
27
+ "group1",
28
+ "container_set2"
29
+ ],
30
+ "groups": [
31
+ "bowl"
32
+ ],
33
+ "cat": "bowl",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.9199999999999999,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "receptacle2",
53
+ "obj_groups": "bowl",
54
+ "graspable": true,
55
+ "placement": {
56
+ "fixture": "cab_2_main_group",
57
+ "size": [
58
+ 0.4,
59
+ 0.4
60
+ ],
61
+ "pos": [
62
+ 1.0,
63
+ -1.0
64
+ ]
65
+ },
66
+ "type": "object",
67
+ "info": {
68
+ "groups_containing_sampled_obj": [
69
+ "all",
70
+ "bowl",
71
+ "receptacle",
72
+ "stackable",
73
+ "group1",
74
+ "container_set2"
75
+ ],
76
+ "groups": [
77
+ "bowl"
78
+ ],
79
+ "cat": "bowl",
80
+ "split": "train",
81
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
82
+ },
83
+ "reset_region": {
84
+ "offset": [
85
+ 0.0,
86
+ 0.0,
87
+ -0.43
88
+ ],
89
+ "size": [
90
+ 0.9199999999999999,
91
+ 0.34
92
+ ],
93
+ "height": 0.2666666666666667,
94
+ "name": "level0"
95
+ }
96
+ },
97
+ {
98
+ "name": "food1",
99
+ "obj_groups": "food",
100
+ "graspable": true,
101
+ "placement": {
102
+ "fixture": "counter_1_main_group",
103
+ "sample_region_kwargs": {
104
+ "ref": "cab_2_main_group",
105
+ "min_size": [
106
+ 0.027149190159279808,
107
+ 0.11703501625277146,
108
+ 0.05390286950999998
109
+ ]
110
+ },
111
+ "size": [
112
+ 0.6,
113
+ 0.3
114
+ ],
115
+ "pos": [
116
+ "ref",
117
+ -1.0
118
+ ]
119
+ },
120
+ "type": "object",
121
+ "info": {
122
+ "groups_containing_sampled_obj": [
123
+ "all",
124
+ "cheese",
125
+ "dairy",
126
+ "food",
127
+ "in_container",
128
+ "food_set1"
129
+ ],
130
+ "groups": [
131
+ "food"
132
+ ],
133
+ "cat": "cheese",
134
+ "split": "train",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 1.0480000000000005,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ 1.4129999999999998,
144
+ -3.469446951953614e-17,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food2",
152
+ "obj_groups": "food",
153
+ "graspable": true,
154
+ "placement": {
155
+ "fixture": "counter_1_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "cab_2_main_group",
158
+ "min_size": [
159
+ 0.06410261910000004,
160
+ 0.06378820760000004,
161
+ 0.05815621890000003
162
+ ]
163
+ },
164
+ "size": [
165
+ 0.6,
166
+ 0.3
167
+ ],
168
+ "pos": [
169
+ "ref",
170
+ -1.0
171
+ ]
172
+ },
173
+ "type": "object",
174
+ "info": {
175
+ "groups_containing_sampled_obj": [
176
+ "all",
177
+ "tomato",
178
+ "vegetable",
179
+ "food",
180
+ "in_container"
181
+ ],
182
+ "groups": [
183
+ "food"
184
+ ],
185
+ "cat": "tomato",
186
+ "split": "train",
187
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml"
188
+ },
189
+ "reset_region": {
190
+ "size": [
191
+ 1.0480000000000005,
192
+ 0.65
193
+ ],
194
+ "offset": [
195
+ 1.4129999999999998,
196
+ -3.469446951953614e-17,
197
+ 0.46
198
+ ],
199
+ "name": "geom_0"
200
+ }
201
+ },
202
+ {
203
+ "name": "distr_counter",
204
+ "obj_groups": "all",
205
+ "placement": {
206
+ "fixture": "counter_1_main_group",
207
+ "sample_region_kwargs": {
208
+ "ref": "cab_2_main_group",
209
+ "min_size": [
210
+ 0.08376885561397304,
211
+ 0.11023097975944163,
212
+ 0.21204336930000003
213
+ ]
214
+ },
215
+ "size": [
216
+ 0.5,
217
+ 0.2
218
+ ],
219
+ "pos": [
220
+ "ref",
221
+ 1.0
222
+ ]
223
+ },
224
+ "type": "object",
225
+ "info": {
226
+ "groups_containing_sampled_obj": [
227
+ "all",
228
+ "spray",
229
+ "cleaner"
230
+ ],
231
+ "groups": [
232
+ "all"
233
+ ],
234
+ "cat": "spray",
235
+ "split": "train",
236
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml"
237
+ },
238
+ "reset_region": {
239
+ "size": [
240
+ 1.0480000000000005,
241
+ 0.65
242
+ ],
243
+ "offset": [
244
+ 1.4129999999999998,
245
+ -3.469446951953614e-17,
246
+ 0.46
247
+ ],
248
+ "name": "geom_0"
249
+ }
250
+ }
251
+ ],
252
+ "fixtures": {
253
+ "wall_left_1_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_left_1_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_main_1_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_main_1_backing_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_right_1_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_right_1_backing_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_right_2_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_right_2_backing_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "wall_right_3_room": {
278
+ "cls": "Wall"
279
+ },
280
+ "wall_right_3_backing_room": {
281
+ "cls": "Wall"
282
+ },
283
+ "floor_1_room": {
284
+ "cls": "Floor"
285
+ },
286
+ "floor_1_backing_room": {
287
+ "cls": "Floor"
288
+ },
289
+ "wall_accessory_1_room": {
290
+ "cls": "WallAccessory"
291
+ },
292
+ "wall_accessory_2_room": {
293
+ "cls": "WallAccessory"
294
+ },
295
+ "wall_accessory_3_room": {
296
+ "cls": "WallAccessory"
297
+ },
298
+ "light_switch_1_room": {
299
+ "cls": "WallAccessory"
300
+ },
301
+ "wall_accessory_4_room": {
302
+ "cls": "WallAccessory"
303
+ },
304
+ "wall_accessory_5_room": {
305
+ "cls": "WallAccessory"
306
+ },
307
+ "window_group_room": {
308
+ "cls": "Window"
309
+ },
310
+ "stool_1_room": {
311
+ "cls": "Stool"
312
+ },
313
+ "stool_2_room": {
314
+ "cls": "Stool"
315
+ },
316
+ "stool_3_room": {
317
+ "cls": "Stool"
318
+ },
319
+ "stool_4_room": {
320
+ "cls": "Stool"
321
+ },
322
+ "stool_5_room": {
323
+ "cls": "Stool"
324
+ },
325
+ "stool_6_room": {
326
+ "cls": "Stool"
327
+ },
328
+ "counter_corner_1_main_group": {
329
+ "cls": "Counter"
330
+ },
331
+ "sink_1_main_group": {
332
+ "cls": "Sink"
333
+ },
334
+ "counter_1_main_group": {
335
+ "cls": "Counter"
336
+ },
337
+ "counter_corner_2_main_group": {
338
+ "cls": "Counter"
339
+ },
340
+ "box_1_main_group": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_1_main_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_1_main_group_1": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_1_main_group_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_1_main_group_3": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_2_main_group_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "stack_2_main_group_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_main_group_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_3_main_group_1": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "dishwasher_1_main_group": {
371
+ "cls": "Dishwasher"
372
+ },
373
+ "stack_4_main_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_4_main_group_1": {
377
+ "cls": "SingleCabinet"
378
+ },
379
+ "stack_4_main_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_5_main_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_5_main_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "box_2_main_group": {
389
+ "cls": "Box"
390
+ },
391
+ "top_corner_1_main_group": {
392
+ "cls": "Box"
393
+ },
394
+ "cab_1_main_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_2_main_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "top_corner_2_main_group": {
401
+ "cls": "Box"
402
+ },
403
+ "paper_towel_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "coffee_machine_main_group": {
407
+ "cls": "CoffeeMachine"
408
+ },
409
+ "toaster_main_group": {
410
+ "cls": "Toaster"
411
+ },
412
+ "knife_block_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "stovetop_left_group": {
416
+ "cls": "Stovetop"
417
+ },
418
+ "counter_1_left_group": {
419
+ "cls": "Counter"
420
+ },
421
+ "box_1_left_group": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_left_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_1_left_group_1": {
428
+ "cls": "SingleCabinet"
429
+ },
430
+ "stack_2_left_group_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_2_left_group_1": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_2_left_group_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_2_left_group_3": {
440
+ "cls": "PanelCabinet"
441
+ },
442
+ "box_3_left_group": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_3_left_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_left_group_1": {
449
+ "cls": "Drawer"
450
+ },
451
+ "stack_3_left_group_2": {
452
+ "cls": "Drawer"
453
+ },
454
+ "stack_3_left_group_3": {
455
+ "cls": "Drawer"
456
+ },
457
+ "box_2_left_group": {
458
+ "cls": "Box"
459
+ },
460
+ "fridge_1_left_group": {
461
+ "cls": "FridgeFrenchDoor"
462
+ },
463
+ "fridge_1_housing_left_group": {
464
+ "cls": "HousingCabinet"
465
+ },
466
+ "hood_left_group": {
467
+ "cls": "Hood"
468
+ },
469
+ "cab_1_left_group": {
470
+ "cls": "HingeCabinet"
471
+ },
472
+ "cab_2_left_group": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "cab_3_left_group": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "toaster_oven_left_group": {
479
+ "cls": "ToasterOven"
480
+ },
481
+ "bottom_right_group_1_base": {
482
+ "cls": "Box"
483
+ },
484
+ "bottom_right_group_1_1": {
485
+ "cls": "Drawer"
486
+ },
487
+ "oven_right_group_1": {
488
+ "cls": "Oven"
489
+ },
490
+ "oven_housing_right_group_1": {
491
+ "cls": "HousingCabinet"
492
+ },
493
+ "microwave_right_group_1": {
494
+ "cls": "Microwave"
495
+ },
496
+ "microwave_housing_right_group_1": {
497
+ "cls": "HousingCabinet"
498
+ },
499
+ "top_right_group_1": {
500
+ "cls": "HingeCabinet"
501
+ },
502
+ "stack_1_right_group_1_base": {
503
+ "cls": "Box"
504
+ },
505
+ "stack_1_right_group_1_1": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "stack_2_right_group_1_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_2_right_group_1_1": {
512
+ "cls": "PanelCabinet"
513
+ },
514
+ "box_right_group_1": {
515
+ "cls": "Box"
516
+ },
517
+ "stack_3_right_group_1_base": {
518
+ "cls": "Box"
519
+ },
520
+ "stack_3_right_group_1_1": {
521
+ "cls": "HingeCabinet"
522
+ },
523
+ "counter_1_right_group_1": {
524
+ "cls": "Counter"
525
+ },
526
+ "cab_1_right_group_1": {
527
+ "cls": "HingeCabinet"
528
+ },
529
+ "cab_2_right_group_1": {
530
+ "cls": "SingleCabinet"
531
+ },
532
+ "cab_3_right_group_1": {
533
+ "cls": "HingeCabinet"
534
+ },
535
+ "island_island_group": {
536
+ "cls": "Counter"
537
+ },
538
+ "panel_stack_1_island_group_base": {
539
+ "cls": "Box"
540
+ },
541
+ "panel_stack_1_island_group_1": {
542
+ "cls": "PanelCabinet"
543
+ },
544
+ "stack_1_island_group_base": {
545
+ "cls": "Box"
546
+ },
547
+ "stack_1_island_group_1": {
548
+ "cls": "HingeCabinet"
549
+ },
550
+ "stack_1_island_group_2": {
551
+ "cls": "Drawer"
552
+ },
553
+ "stack_2_island_group_base": {
554
+ "cls": "Box"
555
+ },
556
+ "stack_2_island_group_1": {
557
+ "cls": "HingeCabinet"
558
+ },
559
+ "stack_2_island_group_2": {
560
+ "cls": "Drawer"
561
+ },
562
+ "stack_3_island_group_base": {
563
+ "cls": "Box"
564
+ },
565
+ "stack_3_island_group_1": {
566
+ "cls": "HingeCabinet"
567
+ },
568
+ "stack_3_island_group_2": {
569
+ "cls": "Drawer"
570
+ },
571
+ "stack_4_island_group_base": {
572
+ "cls": "Box"
573
+ },
574
+ "stack_4_island_group_1": {
575
+ "cls": "HingeCabinet"
576
+ },
577
+ "stack_4_island_group_2": {
578
+ "cls": "Drawer"
579
+ },
580
+ "panel_stack_2_island_group_base": {
581
+ "cls": "Box"
582
+ },
583
+ "panel_stack_2_island_group_1": {
584
+ "cls": "PanelCabinet"
585
+ },
586
+ "box_1_island_group": {
587
+ "cls": "Box"
588
+ }
589
+ },
590
+ "gen_textures": {},
591
+ "lang": "Pick both bowls and place them on the counter. Then place the cheese in one bowl and place the tomato in the other bowl.",
592
+ "fixture_refs": {
593
+ "cab": "cab_2_main_group",
594
+ "counter": "counter_1_main_group"
595
+ },
596
+ "cam_configs": {
597
+ "robot0_agentview_center": {
598
+ "pos": [
599
+ -0.6,
600
+ 0.0,
601
+ 1.15
602
+ ],
603
+ "quat": [
604
+ 0.636945903301239,
605
+ 0.3325185477733612,
606
+ -0.3199238181114197,
607
+ -0.6175596117973328
608
+ ],
609
+ "parent_body": "mobilebase0_support"
610
+ },
611
+ "robot0_agentview_left": {
612
+ "pos": [
613
+ -0.5,
614
+ 0.35,
615
+ 1.05
616
+ ],
617
+ "quat": [
618
+ 0.55623853,
619
+ 0.29935253,
620
+ -0.37678665,
621
+ -0.6775092
622
+ ],
623
+ "camera_attribs": {
624
+ "fovy": "60"
625
+ },
626
+ "parent_body": "mobilebase0_support"
627
+ },
628
+ "robot0_agentview_right": {
629
+ "pos": [
630
+ -0.5,
631
+ -0.35,
632
+ 1.05
633
+ ],
634
+ "quat": [
635
+ 0.6775091886520386,
636
+ 0.3767866790294647,
637
+ -0.2993525564670563,
638
+ -0.55623859167099
639
+ ],
640
+ "camera_attribs": {
641
+ "fovy": "60"
642
+ },
643
+ "parent_body": "mobilebase0_support"
644
+ },
645
+ "robot0_frontview": {
646
+ "pos": [
647
+ -0.5,
648
+ 0,
649
+ 0.95
650
+ ],
651
+ "quat": [
652
+ 0.6088936924934387,
653
+ 0.3814677894115448,
654
+ -0.3673907518386841,
655
+ -0.5905545353889465
656
+ ],
657
+ "camera_attribs": {
658
+ "fovy": "60"
659
+ },
660
+ "parent_body": "mobilebase0_support"
661
+ },
662
+ "robot0_eye_in_hand": {
663
+ "pos": [
664
+ 0.05,
665
+ 0,
666
+ 0
667
+ ],
668
+ "quat": [
669
+ 0,
670
+ 0.707107,
671
+ 0.707107,
672
+ 0
673
+ ],
674
+ "parent_body": "robot0_right_hand"
675
+ }
676
+ },
677
+ "init_robot_base_pos": [
678
+ 4.1142295585022515,
679
+ -0.8427451637635074,
680
+ 0.0
681
+ ],
682
+ "init_robot_base_ori": [
683
+ 0.0,
684
+ 0.0,
685
+ 1.5707963267948966
686
+ ]
687
+ }