diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a46d7b955994adf8c3b5c1b4b6fba0c3c522d95a --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0700514606098266, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.29532606229674, + -2.918806602715394, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b703da3a02cb527ee0b42c1d805f118a5e7e6d2 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 38, + "style_id": 55, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.740312300868627, + -4.9857837460121885, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a34dc5ca4ee4c6b7b3182c01b81c4a1f10819743 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 53, + "style_id": 29, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9635728675729301, + -1.4820304486067184, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f09870773b603c73bbd092f3197ff65e513670 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,667 @@ +{ + "layout_id": 16, + "style_id": 16, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7218646760131375, + -2.962901679395341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d517f600a81ae7656afeceb84c683928932282c5 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 44, + "style_id": 29, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3462618258822663, + -3.463626995205954, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712389620505417 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09764df7b555a6f64500920e37d54c5ec6dabd18 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 12, + "style_id": 21, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.691202194238131, + -3.4567649361683648, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c93943f0f8b7deb3e58c1793577b0eedca7d268 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,663 @@ +{ + "layout_id": 51, + "style_id": 47, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.569194314233176, + -4.583036666002174, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ae051c7b592cba63f18b1a05267f696e81a8bd0 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,665 @@ +{ + "layout_id": 51, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.456658757694285, + -4.535940775749597, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08dae82c0f3b3ce8315dad7aac0402d666e59c1f --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,652 @@ +{ + "layout_id": 21, + "style_id": 26, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8199356254362167, + -3.545499204805226, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a086ff58e408eaa82f0ad558025c8b02c3446c7 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 23, + "style_id": 13, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4556868248181662, + -3.817155786961706, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4099beb14b70641cb6ca162729280d241e3855b --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,695 @@ +{ + "layout_id": 35, + "style_id": 52, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.308338210785331, + -1.4889183400664072, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67fa95be156af575a6dced0d217239e1de674e2f --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 26, + "style_id": 54, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.897151323520991, + -3.2405700596704947, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf6754b08084ca6e66e27d2afc9c054725dbc7bb --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 11, + "style_id": 34, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1477070632454975, + -1.9413958309382848, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd70721c7e1c5b78f920d21b619bc36165fc77f4 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,735 @@ +{ + "layout_id": 12, + "style_id": 13, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.68357153035872, + -3.462696198157288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39b77ae55ebc35322b4098ae32fbb0a204a0e2e0 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,652 @@ +{ + "layout_id": 27, + "style_id": 20, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.2929997599370466, + 0.688 + ], + "offset": [ + 0.029000120031476673, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "counter_3_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6813061020311024, + -4.042343353281322, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b560309c0e6fc38085baae76e9f95a83d803ce0 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 38, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.713321915792005, + -4.840405531447682, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0353dd082ac417c4f4cc37e6d905b07af1229106 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,654 @@ +{ + "layout_id": 27, + "style_id": 26, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.2929997599370466, + 0.688 + ], + "offset": [ + 0.029000120031476673, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "counter_3_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8028169370495846, + -3.9516568392695324, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a87a20dcf498c5200f165957dae4456281fc90 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 44, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4842733266518953, + -3.4766454062218646, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712389620505417 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ead3e63cc0648f25203cb28722fb78538614513 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 59, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.258351514426035, + -1.5030912593208197, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b849e07c11f223688e161afa7f9b3a2b3930da37 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 45, + "style_id": 27, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.36711499002750003, + 0.3671160539625001, + 0.03482571692250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3419817034700725, + -2.643850224407508, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbaedcb53443fe9c53b34e92e2a0b0a990317d9a --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 41, + "style_id": 57, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.4650559999999997, + 1.299989 + ], + "offset": [ + 0.3150210000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.4751400000000006, + 1.299989 + ], + "offset": [ + -0.3099789999999998, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4650559999999997, + 1.299989 + ], + "offset": [ + 0.3150210000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0246701233237916, + -4.108137032585864, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981633974483 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..135c07f059345bfa4d9f818e678914e5f32ba278 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 24, + "style_id": 24, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.5826243019160477, + 1.95 + ], + "offset": [ + -1.108687849041976, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.7867513961679046, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5826243019160477, + 1.95 + ], + "offset": [ + -1.108687849041976, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.444512034133791, + -4.164628702443964, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c1c190a23d009aff5cde7f96f1b6d21a08e1b12 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,695 @@ +{ + "layout_id": 24, + "style_id": 45, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.5834148330931683, + 1.95 + ], + "offset": [ + -1.1082925834534159, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 0.7851703338136634, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5834148330931683, + 1.95 + ], + "offset": [ + -1.1082925834534159, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.4751191602366465, + -4.198011160211721, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b22493bef707934a835d8a3a8f1c914593b605f7 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,664 @@ +{ + "layout_id": 51, + "style_id": 17, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.321644842717265, + -4.56528330529828, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2d88dad2f2ed67c770556d0364159496bdb9c3 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,735 @@ +{ + "layout_id": 12, + "style_id": 60, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.661354053641581, + -3.2249748739642925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b6de73ae5c756f065982cb9af59c578524758f8 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,712 @@ +{ + "layout_id": 49, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.8080829091527146, + 0.580711 + ], + "offset": [ + -0.6002675454236428, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9036737290472865, + -6.369414872679765, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b6c5302a168c96dd257101e45dc6670a5dd03a4 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 30, + "style_id": 46, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8333766257495574, + -4.2910435709051695, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c75e207af76b66deb78b95f53639ced05862089 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 29, + "style_id": 52, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.062999889167958, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.8941218345031412, + 1.0709500000000003 + ], + "offset": [ + 2.220446049250313e-16, + 0.3645250000000001, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.062999889167958, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5067416157258076, + -5.615774613796114, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818342 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff7eb9244405f28ea78603588f0ce30ec7f8f50 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,696 @@ +{ + "layout_id": 35, + "style_id": 31, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.269768132973642, + -1.5355275694758312, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5585645e0a8ed9898889fe54e8b493672ee82616 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 53, + "style_id": 15, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0217085247331996, + -1.704508157454136, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1877b58a0b5864658e1b64f6d2a8ddb5157e8ceb --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 44, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.2691317202093995, + -1.658813222915433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59261408ccece7350ed9c6532d2a665d92eca503 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,711 @@ +{ + "layout_id": 49, + "style_id": 54, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.8080829091527146, + 0.580711 + ], + "offset": [ + -0.6002675454236428, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.872271780471699, + -6.389816151993069, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d7242ba18ef839938afb51ba15828874ae86960 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,620 @@ +{ + "layout_id": 32, + "style_id": 13, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0901460185284075, + 0.96 + ], + "offset": [ + 0.6473469907357963, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.3401460185281517, + 0.96 + ], + "offset": [ + 0.022346990735924166, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0901460185284075, + 0.96 + ], + "offset": [ + 0.6473469907357963, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.854287512988209, + -2.8431659674173404, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7911ec668305c83ca0e6c5701043a44db3746129 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 19, + "style_id": 14, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7783146171362207, + -4.03185475504886, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f47411363b524fbf901e2ada76a27c015111e3f --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,633 @@ +{ + "layout_id": 30, + "style_id": 58, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7989033425920926, + -4.287290516793401, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..899eb2bd99beddc0525de8e1a7eb4cde36418943 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,669 @@ +{ + "layout_id": 16, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.657521045178684, + -3.0403668235736183, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f633169bcd91581efe4280e28310bc21499632c --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 45, + "style_id": 42, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8875210643905342, + -2.0100355527653604, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712389620505417 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f283ac5615e77a1a5779c96a339e77a4fd167c --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,640 @@ +{ + "layout_id": 57, + "style_id": 23, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.191507973438046, + -5.383284245567932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..575083bfab5509742c16cdb980f8cf015b17870d --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 51, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.251825775052735, + -1.6240117550577045, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fae9cd667512ab283ff520a57c33d9c37531c8cc --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,641 @@ +{ + "layout_id": 48, + "style_id": 30, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.6940363732921537, + 1.464295 + ], + "offset": [ + -0.29947281335392306, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.2994829006182216, + -4.800171360114245, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..783f7036077a91c8390ff1235374b661a74c5523 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 44, + "style_id": 20, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.36711499002750003, + 0.3671160539625001, + 0.03482571692250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3460408112372866, + -3.50588518263101, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712389620505417 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfcccb1a683fe063717fc194a90a498a51739cf3 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 48, + "style_id": 13, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.6940363732921537, + 1.464295 + ], + "offset": [ + -0.29947281335392306, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.3791561882018273, + -4.824514989525636, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f6e3b512e65f5399b67fcbf5622bfc208d7c274 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 44, + "style_id": 18, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.077002923287314, + -3.937722687127288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4581096f040933a34492d7fa61b7b49d9854cd --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 23, + "style_id": 49, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4314664201365295, + -3.862558890401286, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f781522ea4e9f54443a70b61744da1fbad167165 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,662 @@ +{ + "layout_id": 13, + "style_id": 57, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.977263563087776, + -3.589336999723143, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf7ac529dbb75cab15c850bdf903c60ffbefb0c2 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 26, + "style_id": 11, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8616042824408574, + -3.233301209131595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce77e68588fb90be6c61074e94024e356ab1e23 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 38, + "style_id": 53, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6784901335293427, + -4.9493557136808235, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b27deab7b917b2dd733bc0cf4481965fa1a5fc --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 29, + "style_id": 49, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679575, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.97, + 1.1116892797942362 + ], + "offset": [ + -2.220446049250313e-16, + 0.3441553601028823, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679575, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.494958037963145, + -5.530875574514677, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818342 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf5bbf7606a1e997d0720554f76af257a892b64c --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 51, + "style_id": 36, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.3569470786252245, + -4.503342975845265, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e5c5817ec95a69b98c4c0873b0973722f992ee4 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 23, + "style_id": 45, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4343562460035977, + -3.8910416377269037, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..022674a4dc4e4ddf222f2e8e995ecdae45fe70af --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 28, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.354007601533017, + -1.6100687936423044, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96f94a9fdf3e017bd8883df1ba182c0ce43d9e54 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,640 @@ +{ + "layout_id": 57, + "style_id": 60, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.2826931006631455, + -5.409785439963648, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4616802b2ad1f47f2c13822467c77143e856f52e --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 32, + "style_id": 53, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.0901460185284075, + 0.96 + ], + "offset": [ + 0.6473469907357963, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.3401460185281517, + 0.96 + ], + "offset": [ + 0.022346990735924166, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0901460185284075, + 0.96 + ], + "offset": [ + 0.6473469907357963, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.767282104905135, + -2.923572019804592, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d918087097902f60a0c34aebb1eca402dfca4845 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,693 @@ +{ + "layout_id": 24, + "style_id": 59, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.540636157066536, + 1.95 + ], + "offset": [ + -1.129681921466732, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.8707276858669284, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3688717415175001, + 0.36885372954750006, + 0.04954467323250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.540636157066536, + 1.95 + ], + "offset": [ + -1.129681921466732, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18442686477375003, + 0.18442686477375003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.415233690208306, + -4.189003561827221, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae41b743a7d3e4fad2628de9744caffd86b39fd3 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 33, + "style_id": 43, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.2264729023388594, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.3816907657266504, + 0.5510999999999999 + ], + "offset": [ + 0.4454635735111767, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.2264729023388594, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0210692864499207, + -3.505060193104275, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5709472799547157 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3eda59fb3a94ebdac58f1dcdf680dfce8ff877f4 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 45, + "style_id": 59, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3083890307567334, + -2.6941014796641394, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c411a07453221e1079aa1d999966e9c9c63207c --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,640 @@ +{ + "layout_id": 19, + "style_id": 41, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6712493749190602, + -4.041135183535929, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0829a4b208a42f4169f5b98e7a131487c3d9a3ab --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 23, + "style_id": 31, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3478094802, + 0.34780960068750005, + 0.021121451662500002 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1739047401, + 0.1739047401 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5233843685131543, + -3.8787968124729693, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e2fd6819a0f9d8a018993d26cd536764594fa5b --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 12, + "style_id": 54, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.700025729369547, + -3.326762164591824, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c5d2c3f8b1807cee8a5ce53624efbcbcd830a33 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,663 @@ +{ + "layout_id": 13, + "style_id": 53, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.36711499002750003, + 0.3671160539625001, + 0.03482571692250001 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18355749501375002, + 0.18355749501375002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9882832140007964, + -3.5131843269286582, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c62e5ec49a3c6f0c3257c5868960c7519b78ccf0 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 31, + "style_id": 23, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.7321020766376967, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.37064971926000007, + 0.3706463476350001, + 0.03212516143125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18532317381750005, + 0.18532317381750005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3564576624114462, + -2.924408726997986, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4db5ccd8f7ee3f983cf94b6440664b98ddad4ea1 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 37, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.4491256, + 0.29675149, + 0.10173730400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.28734084854086, + -1.510435897249316, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54608b82234249369d5b8d23984d34765b78f814 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 38, + "style_id": 23, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.37058613790500006, + 0.36818533111500007, + 0.030346992630000003 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18409266555750003, + 0.18409266555750003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.705608141665315, + -4.74912334170799, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a016f74bf3f009f1288c9dc16e034e9f1388f7e8 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,714 @@ +{ + "layout_id": 49, + "style_id": 19, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.8080829091527146, + 0.580711 + ], + "offset": [ + -0.6002675454236428, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.3674865655800001, + 0.367486220925, + 0.040288850820000006 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1837431104625, + 0.1837431104625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.860555604999833, + -6.39058967416909, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b8453042fcbc69e9b177e1ef9d848d6dc2ab846 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,667 @@ +{ + "layout_id": 16, + "style_id": 12, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.6985870245600113, + -2.9248613068646847, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c20b2ea10de4b76860ab0e5b533271efda39578c --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,711 @@ +{ + "layout_id": 17, + "style_id": 15, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30206822800000005, + 0.197742748, + 0.04419680000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3682128360825, + 0.368212903515, + 0.022459712805 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.18410641804125, + 0.18410641804125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.931825723598547, + -3.6940903142106327, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981459128913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d032e996c83cccc055a038cc7234d69dc44db0 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 35, + "style_id": 49, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.33386431400000005, + 0.238475286, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24948, + 0.16534000000000001, + 0.05448 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.34975406340000004, + 0.34975418388750007, + 0.0296636752125 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.17487703170000002, + 0.17487703170000002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.336339001317839, + -1.5430922479690066, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000105/ep_meta.json b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bed5d8d0830ed9dc7fcaf4ff58cdf683a3a38495 --- /dev/null +++ b/pretrain/composite/PortionInTupperware/20250807/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 31, + "style_id": 30, + "object_cfgs": [ + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.31550531600000004, + 0.22526851200000003, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware2", + "obj_groups": "tupperware", + "object_scale": [ + 1.75, + 1.75, + 1 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.25172, + 0.18423816600000004, + 0.04568 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.9499565770135094, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.5, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3849475660834969, + 0.3814579732024684, + 0.11311437512173672 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cooked_food1", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "cooked_food2", + "obj_groups": "cooked_food", + "exclude_obj_groups": "kebab_skewer", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "vegetable1", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "vegetable2", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.1907289866012342, + 0.1907289866012342 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cooked food and one vegetable from the large plate to each tupperware container.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3059016893058475, + -2.845489525373729, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/dataset_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52a1eda7f7ab4cc5d714fbcc0c400b1b1c8b71ea --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "RemoveCuttingBoardItems", + "env_args": { + "type": 1, + "env_name": "RemoveCuttingBoardItems", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "RemoveCuttingBoardItems", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "RemoveCuttingBoardItems", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "19:19:10", + "total": 34223 +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc81aea10812df34d1628928f5aa0411cd74cd8e --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 24, + "style_id": 12, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3405875477734424, + 1.95 + ], + "offset": [ + 1.229706226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the carrot and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5801715055956276, + -1.7416063521605882, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7085a43f08db4c6fa2df28dbd24e0653ec7bc1c5 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 14, + "style_id": 35, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8114900312120001, + 0.65 + ], + "offset": [ + 0.4442549843939999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5034856219998542, + -1.5127316831215283, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e884994976eb7871c4e0a83b9fc331291ac4e738 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 14, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7573741384582225, + 0.65 + ], + "offset": [ + 0.47131293077088865, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4846540071278445, + -1.5113545016340084, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6431db780e81ecad01260eec7c6c7b5d6e6ca058 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,507 @@ +{ + "layout_id": 23, + "style_id": 11, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.6202416980517524, + 0.65 + ], + "offset": [ + -1.371379150974124, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.129633940033652, + -0.8032236263956755, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c29d2f26fa5468582c72be996e74d4d270c03eed --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 14, + "style_id": 54, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7563581003217743, + 0.65 + ], + "offset": [ + 0.47182094983911294, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the eggplant and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.263543228750653, + -1.4873182589149727, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51b9eba68c16a205eee76481f138111efedf7562 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 39, + "style_id": 18, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.9391833715595586, + 0.65 + ], + "offset": [ + -1.3804083142202208, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the onion and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.608202529902752, + -0.8221925519523682, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..412a60a0032ea09054fbc5a88da0b096d6b1e3b0 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 38, + "style_id": 15, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3732471803869253, + 0.65 + ], + "offset": [ + -1.2423764098065373, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the corn and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1412303862507491, + -0.8357017403826655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a27aba71bb02d9f0e12dfab9900f48f623a8674 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 51, + "style_id": 34, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4206191944875672, + 0.65 + ], + "offset": [ + 0.8774914027562166, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the corn and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.699778757201787, + -0.7973799755373137, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f25ab81758be161efa280b05627c20f7f1d3b667 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 53, + "style_id": 30, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.49453434607681346, + 0.65 + ], + "offset": [ + -0.7550888269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.939230470390161, + -0.7989569484556822, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ce86513f89d2da326dfae0987b0efb898c7323 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 19, + "style_id": 60, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8365466106143346, + 0.65 + ], + "offset": [ + 0.8317266946928328, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7552661907246708, + -1.2526299406957313, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8f7d2f37bb8d93341d5cf2d78b5c330c0a0510 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 19, + "style_id": 37, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8970575495183672, + 0.65 + ], + "offset": [ + 0.8014712252408165, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the onion and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.794850688724445, + -1.2824834176906372, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a02b0a061fa3105048a17e60da65c2bca54a7c6 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 41, + "style_id": 35, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0434688712120004, + 0.650008 + ], + "offset": [ + -0.7876795643939999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0581842108455546, + -0.7640881510731317, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f93f4ed9d37ad6d9c7caf1010dc3d9a7d8173ab7 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 25, + "style_id": 38, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8190790827484294, + 0.65 + ], + "offset": [ + 1.773460458625785, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the mushroom and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8032702478638583, + -1.2853557809740628, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c1d141e2863c637957c7d0de24216914c93778 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 13, + "style_id": 39, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9049993019160478, + 0.65 + ], + "offset": [ + -0.750000349041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3016823391442123, + -0.8211735921114527, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1a4ac71e4ac4d9d75af652b231b18a3175bb6e9 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 22, + "style_id": 26, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.9648012259761802, + 0.65 + ], + "offset": [ + 1.5350993870119094, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8112473848729204, + -1.7388225754839173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0171524738fa26439b339a653999cd12cff122f7 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 39, + "style_id": 54, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.8208581003217743, + 0.65 + ], + "offset": [ + -1.439570949839113, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.473288463256379, + -0.7655388304416573, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e5eebfadaab8b213168e81666c71c2db18e174d --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 21, + "style_id": 40, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4763301243791431, + 0.65 + ], + "offset": [ + 0.41183493781042824, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8712869353994905, + -0.7558341802816103, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0651a9f36086560a81d8e61c0cdefd35cff3f585 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 13, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8133750000000002, + 0.65 + ], + "offset": [ + -0.7958124999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.225043574765149, + -0.7771205656566478, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86e2f5d2c0f1f77f6e11697be6e92b75e853d998 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 33, + "style_id": 13, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2789597478491732, + 1.1661 + ], + "offset": [ + 1.2605201260754133, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.558350558951904, + -1.7536239540707403, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a953b3cc1b59acbcc84140915b2b07a3bc6ac53 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 27, + "style_id": 18, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.6086833715595588, + 0.65 + ], + "offset": [ + 0.45565831422022063, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9163569434946122, + -0.8229739185680643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10670db7d21443a036f02bd18b1ed6b91e1e25ce --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 18, + "style_id": 20, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.3440453503334866, + 0.65 + ], + "offset": [ + -0.7779773248332567, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the eggplant and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2827501964157078, + -2.6135151108362558, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f74cfbe1de1c60b5b826a54d3502f50bef14ac6a --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 39, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.773439082748429, + 0.65 + ], + "offset": [ + -1.4632804586257855, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.563026536544898, + -0.7572445422411851, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02892808871b6f55b003f9842eb03fb5bf3d0bad --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 53, + "style_id": 39, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8094515019160478, + 0.65 + ], + "offset": [ + 0.5976302490419763, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.182698381051327, + -0.8315974813284809, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a7a702a78cedb26cc935b86f2db68484040317 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 17, + "style_id": 35, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2467400312120003, + 0.65 + ], + "offset": [ + -1.0516299843939998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.851595700533088, + -1.5162695731857627, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a84150686cfcca26d2dc61bf317682c87389ce5 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 56, + "style_id": 23, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9961889558889072, + 1.604605 + ], + "offset": [ + -0.8097450220555464, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the onion and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.545325068931246, + -2.263731872926808, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7260a04042903fa89361b94af74d190908882832 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 23, + "style_id": 37, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.9594475495183674, + 0.65 + ], + "offset": [ + 1.2017762252408168, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the eggplant and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.399259912204209, + -0.8368320795511073, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14f53c32ad9a8d9642f632a8da76dea09328ee2b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 56, + "style_id": 26, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9274385659761804, + 1.604605 + ], + "offset": [ + 0.84412021701191, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5532356050744105, + -2.228150542087626, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb76dcd83302a67721a090eae792a1d6320caf6 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 13, + "style_id": 39, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.9049993019160478, + 0.65 + ], + "offset": [ + -0.750000349041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3711226411081494, + -0.7761079618892918, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf94516bbaf46b69de116c612dc7e78910771d9 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 33, + "style_id": 50, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8426969878749717, + 1.1661 + ], + "offset": [ + -0.978651506062514, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6563270652857733, + -1.804578671727961, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f70b3f477dadb4009487be969df2b64921083c8d --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 38, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4146341384582226, + 0.65 + ], + "offset": [ + -1.2216829307708887, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1722858240046115, + -0.8164198456347344, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55e8297b3cbe417d92bd8e133b62e9edeb71cb31 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 42, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5875600000000002, + 1.242 + ], + "offset": [ + 1.0142199999999997, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4253812906511176, + -3.100309691115856, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22f7874f556b74541a8f640bc83cf966f253fb18 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 42, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1525793588788467, + 1.242 + ], + "offset": [ + -0.7317103205605767, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.484247425821779, + -4.51277159005146, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe873c87b1b180a86c2f46cae053ae08073cc16 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 13, + "style_id": 28, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.883560166500994, + 0.65 + ], + "offset": [ + -0.7607199167495029, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the mushroom and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3930941420734118, + -0.7915276516008786, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dea8de39ca804daf9c1c4ff96cf969843f92c81c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 30, + "style_id": 60, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9941966106143346, + 0.65 + ], + "offset": [ + 1.0004016946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0328215320906393, + -2.3943389988035815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d386aa99b990814834869f442df387dc5417a20b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 14, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6709999999999999, + 0.65 + ], + "offset": [ + 0.5144999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2891450590826423, + -1.4910849846141367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c529b4b1428c4b2bb7768e893530f67c681b09c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 18, + "style_id": 13, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8754597478491734, + 0.65 + ], + "offset": [ + 1.512270126075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.227339039166022, + -3.815432655635782, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91bc0cbcfd9777f9ca223a9121eb4ddd8be75025 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 48, + "style_id": 55, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1960857019160478, + 0.650012 + ], + "offset": [ + 1.0405771490419764, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7178297090395804, + -3.270102582639973, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..587351e5fe1c8d5d32c46cdcd853186da609a9b0 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 24, + "style_id": 47, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4331664140281641, + 1.95 + ], + "offset": [ + 1.1834167929859176, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.557858232515571, + -1.7915115876480767, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60441fb01cbcbec7005fe479605166e9bb69872e --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 47, + "style_id": 19, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1941663934549251, + 0.649981 + ], + "offset": [ + -0.7997908032725374, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_03_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.180916923513541, + -1.574596564177877, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc67e61e3283edbc438b48fe29a4019ad6fa1a79 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 48, + "style_id": 44, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.232442721868884, + 0.650012 + ], + "offset": [ + -1.022398639065558, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the onion and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7685574804705997, + -1.5974739960982793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22cb97d2c1fb99bd410ebf2760ab36cf33258010 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 33, + "style_id": 53, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.6930197033331165, + 1.1661 + ], + "offset": [ + -1.0534901483334416, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0213780341665837, + -1.7798080417889828, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d485ef78852ca7f3ecb661a3d6db66fe5d651a6 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 35, + "style_id": 32, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.0880499814390086, + 0.65 + ], + "offset": [ + -0.8025250092804956, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.500254201946174, + -1.333671355714199, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b62c8d02be4d3a15020731891a17530746c76429 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 49, + "style_id": 58, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7340209606143347, + 0.650178 + ], + "offset": [ + 0.6761480196928329, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the corn and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.3382230318156125, + -2.631715480189669, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00016215342262304588 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa6446fcd6caf9cdce695c6ce239efd38ea939ab --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 56, + "style_id": 41, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7292643214390088, + 1.604605 + ], + "offset": [ + 0.9432073392804954, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3595463916782298, + -2.2460526465899573, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf4c945088f308309cbe0ff0072b5da6a41cb3b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 13, + "style_id": 51, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.874962619802766, + 0.65 + ], + "offset": [ + -0.7650186900986169, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the bell pepper and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1686995749666758, + -0.7937971962089936, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c59da9e1dd3ce4caf56c54b9c3f00c1cd257c1dc --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 32, + "style_id": 55, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.256616801916048, + 0.65 + ], + "offset": [ + -0.4716865990419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4933125332989725, + -0.7826527753216487, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44098aeb1199dc1fa90d521dcfc8d30c5cece586 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 24, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4331393588788466, + 1.95 + ], + "offset": [ + 1.1834303205605767, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.793466047915835, + -1.7619042754409613, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04602c01a5270d5ecf7625889f8096b7e392bc40 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 47, + "style_id": 59, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.2408849570665357, + 0.649981 + ], + "offset": [ + -0.7764315214667321, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_03_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.1617940085361855, + -1.6192235402656623, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2159307c170359a40e9d632c08cd682f55c08825 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 20, + "style_id": 14, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7435936480104919, + 0.65 + ], + "offset": [ + 1.316203175994754, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8319057916825702, + -1.0637342831000676, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fccadc7cde96df9260d874b341ff1554293eddee --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 14, + "style_id": 23, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7397222958889069, + 0.65 + ], + "offset": [ + 0.4801388520555464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2781641083268047, + -1.5457553317775419, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e240f5528eee60226e6c17daf616ae64ae65a8a --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 17, + "style_id": 50, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.343946987874972, + 0.65 + ], + "offset": [ + -1.003026506062514, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.851092832051586, + -1.5756799217011765, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b009cc98d5961e131ba7328e31300dc6955967d3 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 33, + "style_id": 20, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4605453503334862, + 1.1661 + ], + "offset": [ + 1.1697273248332567, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7354387176555737, + -1.7963569001671609, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12d0b991912ec8407ac6fda630e0e44dbeb56fc3 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 36, + "style_id": 21, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.2823502358958163, + 0.65 + ], + "offset": [ + 0.8130748820520921, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8392250790007612, + -0.8802036898397207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e63ad2875eca7f62ce2ffc49c03fecbf40f496b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 46, + "style_id": 11, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.9585914580517518, + 1.300035 + ], + "offset": [ + 1.1729202709741235, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_front_group_1", + "counter": "counter_2_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7551580964492013, + -2.634079578592687, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..329338311f01c493ce8580395e7844b645135d2d --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 60, + "style_id": 13, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1665218478491735, + 0.650002 + ], + "offset": [ + 1.1918080760754137, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.315344574979054, + -1.4879294783372714, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc915e71578d3271161def608441aef15b228505 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 48, + "style_id": 17, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2808136961913228, + 0.650012 + ], + "offset": [ + 0.9982131519043387, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.717792378452363, + -2.9662844002217623, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec93f40a25a54dbf69c3683f6af00881b593dd6c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 54, + "style_id": 30, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8754995460768134, + 0.65 + ], + "offset": [ + -0.7451002269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.941016065349132, + -1.388795243225068, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f09972545777dd6c1e11badad7202a84cdf3c544 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 44, + "style_id": 34, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8307894344875668, + 0.650008 + ], + "offset": [ + 0.5052077827562165, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the carrot and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.817168656917401, + -0.8182517062912945, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12c4012dd55ca064f1e34a29cab3bc3fa1a0511b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 59, + "style_id": 22, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7161305000000002, + 1.075989 + ], + "offset": [ + -0.84306525, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.447119559026198, + -2.128670701616087, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a19369e55b14b2109fc8e34bc3daf56f59affe38 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 38, + "style_id": 41, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3393119814390086, + 0.65 + ], + "offset": [ + -1.2593440092804957, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1208107867340653, + -0.7570722094448442, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbc47f6b2172121c48924935df1576327dee7c3 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 35, + "style_id": 51, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1385856198027657, + 0.65 + ], + "offset": [ + -0.777257190098617, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.488975578467451, + -1.5570448291460794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d928a74a948f2de148f2b7ee47fbe9305a76acc --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 37, + "style_id": 19, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6931175934549253, + 1.045 + ], + "offset": [ + 0.7834412032725373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5809724756892316, + -3.3327617217517944, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eae44bfd3d5a45b105376c8ae9a8de9e74d55637 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 48, + "style_id": 21, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1267116358958162, + 0.650012 + ], + "offset": [ + 1.0752641820520918, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.791451414608204, + -3.088721287795578, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1335371c4275b3061590d31087474e12dd3190 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 22, + "style_id": 13, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.363384747849174, + 0.65 + ], + "offset": [ + -1.335807626075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the mushroom and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8287377212602423, + -2.910729898817367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9046dab7ae64af0cb0557579c3ef0f40292a79 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,427 @@ +{ + "layout_id": 58, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.6742790827484293, + 0.65 + ], + "offset": [ + -0.7946604586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the broccoli and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4616926155935555, + -0.8407451954076713, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..072b68e1c1787b290b39ec4fda637e74eeef5d83 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 44, + "style_id": 51, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8286070198027657, + 0.650008 + ], + "offset": [ + 0.5062989900986168, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.678714403002884, + -0.761489490962023, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0db78fe2066bf5ea7f51af2724e7057c1ad504f --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 36, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7647741384582226, + 0.65 + ], + "offset": [ + -1.0718629307708887, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8098485828377029, + -2.449834425667441, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa3a832ceb3c01660cb770934ea9d87954bcee1 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 55, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.314139358878847, + 0.65 + ], + "offset": [ + 0.4429303205605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the carrot and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.960355554001706, + -0.9137774345124601, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a2177b835a33fedc6e26d5046df773c75ca4b17 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 51, + "style_id": 20, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0842981903334865, + 0.65 + ], + "offset": [ + -1.0456519048332567, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4408645830696485, + -0.8210575106647877, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ba2c638c95e569f6ba5df5b100abd796f1ed66 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,402 @@ +{ + "layout_id": 55, + "style_id": 11, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2746316980517525, + 0.65 + ], + "offset": [ + 0.4626841509741242, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon wedge and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.003658569540551, + -0.959807246480722, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc899147e50ea6124fd99c2205a59df449a6517c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 57, + "style_id": 33, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.2048840788788466, + 0.65 + ], + "offset": [ + -0.7731999605605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the mushroom and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.8004052554105803, + -1.6258132648353503, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f965c4be4498f0cc33bdd4bdb14e2558e3c8ec5b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 18, + "style_id": 48, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.2041315213010124, + 0.65 + ], + "offset": [ + -0.8479342393494937, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2377318516276827, + -2.5318738490220167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..902d1456a0f775c02fb2a43d279705a9821d21ae --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 49, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.4538426500000001, + 0.650178 + ], + "offset": [ + -0.816237175, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.268212632614575, + -1.2311576038764989, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00016215342262304588 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88207e34f7744c56d6f1c643eeaa0ccd4c104bc4 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 18, + "style_id": 47, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.2026664140281644, + 0.65 + ], + "offset": [ + -0.8486667929859177, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2538940771459877, + -2.700255268726341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b6908c886ea67f2f52be6263c05586328ae23f --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 51, + "style_id": 33, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9428921988788468, + 0.65 + ], + "offset": [ + -1.1163549005605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4046210421903216, + -0.8353778693922495, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8563afe0b52a946a9ae51dac813adda657ae5a67 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 12, + "style_id": 48, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7180875213010123, + 0.65 + ], + "offset": [ + 1.0779562393494937, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1055061455786728, + -0.7587932787684903, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f6e0c18bfebd11e40e1ad480d7f793a55d3c65 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 60, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1989362384582223, + 0.650002 + ], + "offset": [ + 1.1756008807708886, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3262970510873915, + -1.5299805979627163, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20aa8591b5073189352e3c37c40c699b1cfbd548 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 41, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9953936730931685, + 0.650008 + ], + "offset": [ + -0.8117171634534158, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the avocado and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9631231314764497, + -0.7759911824398769, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b18f93913663bde1d4ebdc5d8253e081e88addc --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 33, + "style_id": 58, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6765466106143343, + 1.1661 + ], + "offset": [ + -1.0617266946928328, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9550217300050488, + -1.7538085035719686, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d301cc30d1ec2b4c9bd2ac58b43d81cb7c94385 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 60, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.150501182748429, + 0.650002 + ], + "offset": [ + 1.199818408625785, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.29921157434188, + -1.4825356647184433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93673d6b297b20c2cacccfa7036749a029d1ec52 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 20, + "style_id": 26, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8045462259761802, + 0.65 + ], + "offset": [ + 1.2857268870119094, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Remove the tomato and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7840041128952934, + -1.194356554460913, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9472f99f35676bac5405228469c074b1b8b19060 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 48, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2027785999999998, + 0.650012 + ], + "offset": [ + -1.0372307, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the eggplant and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7448535960228706, + -1.5978447561834186, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0613610306a78074beeb254a66fd1fad01dbf20c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 22, + "style_id": 34, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8193450344875668, + 0.65 + ], + "offset": [ + 1.6078274827562167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8304688766855536, + -1.415556622632679, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d26d65b1e80783b3dab08b05ef5c75c20bea419 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 38, + "style_id": 21, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.350510235895816, + 0.65 + ], + "offset": [ + -1.253744882052092, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0206160850464099, + -0.818857855884528, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..083e0b3a3391f543b67d124cc4cf68236b3faf0c --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 57, + "style_id": 53, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1987644233331165, + 0.65 + ], + "offset": [ + -0.7762597883334418, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.8137191241116858, + -1.4582849733346843, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a105ec42621bbe1865f8dbdae08c01147c5382af --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 23, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6035490827484296, + 0.65 + ], + "offset": [ + -1.3797254586257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.013908395574802, + -0.8086493626817967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5fdd8be2eddd5be897a4c8675c05e79ec309e4 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 56, + "style_id": 21, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.740462575895816, + 1.604605 + ], + "offset": [ + 0.9376082120520923, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.109494508914383, + -2.3029631281878933, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d11fc69fa889b8b8942c467634aa190efa28de25 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 22, + "style_id": 37, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.887632549518367, + 0.65 + ], + "offset": [ + 1.5736837252408167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7943016230154204, + -1.5154273672897152, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4f927afa1284097f18d85b16360ff065751dc82 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 45, + "style_id": 40, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.104680124379143, + 0.65 + ], + "offset": [ + 0.7146599378104284, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the onion and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1070654063346246, + -0.7913562452698654, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45e2fd9bba74591bf174b2f7180443c44beae14b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 45, + "style_id": 54, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8040081003217743, + 0.65 + ], + "offset": [ + -0.8649959498391128, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.11280538912500006, + 0.11280538912500006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the carrot and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1683432949988273, + -0.8291659230552821, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8c687f11d8b7d601b5c8560ec3b10dcc0451b5 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 38, + "style_id": 23, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.628462295888907, + 0.65 + ], + "offset": [ + 1.114768852055546, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.604816159354011, + -0.7956903568710032, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f7bcb3a68c19e40ab8695b870e90eac2d2e7fa --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 53, + "style_id": 44, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7474913218688841, + 0.65 + ], + "offset": [ + 0.628610339065558, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.12656248650000007, + 0.12656248650000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Remove the lemon and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.239279153243572, + -0.8420439495961801, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1506567dcfbb087928a84b6ca2a08ea4bb4424b4 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 31, + "style_id": 47, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.741147174028164, + 1.3 + ], + "offset": [ + -1.1794079129859179, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.122817420187858, + -5.027525180345521, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..815c68b4165c891dcc3a6848cf1dcced337cfa7f --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 14, + "style_id": 57, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7206361570665357, + 0.65 + ], + "offset": [ + 0.4896819214667322, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the bell pepper and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.370702202598118, + -1.4877556958855482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41dbb2a0c7052cc39b4784a6951922359918a055 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 17, + "style_id": 58, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1777966106143345, + 0.65 + ], + "offset": [ + -1.0861016946928328, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10298933115750006, + 0.10298933115750006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Remove the garlic and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.879983828922252, + -1.7041815049951283, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6bee79cc45860ef7e7ffa3723ccdb6aa5eaa42a5 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 32, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2513666384582227, + 0.65 + ], + "offset": [ + -0.4743116807708887, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.358971632804218, + -0.847665774681555, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..313e3708eb493ceb23cc7773ecc9689001243d34 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 34, + "style_id": 29, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5275000000000002, + 1.1786 + ], + "offset": [ + 1.0862500000000002, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the sweet potato and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6669449914749137, + -4.47111577274702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707958552615027 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2573f319f1d35f1a77033b83086556ab6e8551 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 46, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5228870730931685, + 1.300035 + ], + "offset": [ + -1.3907724634534158, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the bell pepper and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_front_group_1", + "counter": "counter_2_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.123321790033179, + -2.672480461232751, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..decfff3a23ded1c0651addba192a0e17e6efd92f --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 52, + "style_id": 40, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5783301243791432, + 0.65 + ], + "offset": [ + 0.33833493781042856, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the bell pepper and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5115103475789042, + -1.7281422756192568, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29d2a02318a1034cddd02343aa8449ecbc9e3cd7 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 34, + "style_id": 12, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5290875477734427, + 1.1786 + ], + "offset": [ + 1.0854562261132785, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Remove the eggplant and chicken drumstick from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.664989482740649, + -4.529800683592677, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707958552615027 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a23130d1afbddaf70223d00eb7f3104d3952fc0e --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 27, + "style_id": 40, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.6643301243791433, + 0.65 + ], + "offset": [ + 0.4278349378104285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09932427900000006, + 0.09932427900000006 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Remove the lime and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7203128381501835, + -0.7990800831375456, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a46cfe08159d3f5ebb64241589af586cfeccd01 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 28, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3811748330931684, + 0.65 + ], + "offset": [ + -1.149412583453416, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the squash and fish from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2909494576739173, + -0.8403670827821728, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57b9bf7941034c3c486001289800234f200c9653 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 46, + "style_id": 44, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9336238818688838, + 1.300035 + ], + "offset": [ + 1.185404059065558, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.10531618906533051, + 0.10531618906533051 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the mushroom and shrimp from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_front_group_1", + "counter": "counter_2_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5829180451882148, + -2.639636976011922, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad2432046ae944d1c989f947230501c3c58ae84b --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 14, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7634148330931683, + 0.65 + ], + "offset": [ + 0.46829258345341584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.09990279879065696, + 0.09990279879065696 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cutting_board", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Remove the cucumber and steak from the cutting board to prepare it for cleaning.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4853192812152667, + -1.4794214699476982, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/embodiment.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes.jsonl b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54b37a8ee45276fc268d2282b2c1d79acc2c48f0 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "tasks": ["Remove the carrot and steak from the cutting board to prepare it for cleaning."], "length": 337} +{"episode_index": 1, "tasks": ["Remove the avocado and fish from the cutting board to prepare it for cleaning."], "length": 242} +{"episode_index": 2, "tasks": ["Remove the lime and fish from the cutting board to prepare it for cleaning."], "length": 283} +{"episode_index": 3, "tasks": ["Remove the garlic and steak from the cutting board to prepare it for cleaning."], "length": 347} +{"episode_index": 4, "tasks": ["Remove the eggplant and steak from the cutting board to prepare it for cleaning."], "length": 318} +{"episode_index": 5, "tasks": ["Remove the onion and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 339} +{"episode_index": 6, "tasks": ["Remove the corn and fish from the cutting board to prepare it for cleaning."], "length": 303} +{"episode_index": 7, "tasks": ["Remove the corn and fish from the cutting board to prepare it for cleaning."], "length": 302} +{"episode_index": 8, "tasks": ["Remove the lemon and steak from the cutting board to prepare it for cleaning."], "length": 377} +{"episode_index": 9, "tasks": ["Remove the tomato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 286} +{"episode_index": 10, "tasks": ["Remove the onion and steak from the cutting board to prepare it for cleaning."], "length": 381} +{"episode_index": 11, "tasks": ["Remove the squash and steak from the cutting board to prepare it for cleaning."], "length": 334} +{"episode_index": 12, "tasks": ["Remove the mushroom and fish from the cutting board to prepare it for cleaning."], "length": 332} +{"episode_index": 13, "tasks": ["Remove the lemon wedge and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 377} +{"episode_index": 14, "tasks": ["Remove the avocado and shrimp from the cutting board to prepare it for cleaning."], "length": 369} +{"episode_index": 15, "tasks": ["Remove the lemon wedge and fish from the cutting board to prepare it for cleaning."], "length": 301} +{"episode_index": 16, "tasks": ["Remove the broccoli and shrimp from the cutting board to prepare it for cleaning."], "length": 346} +{"episode_index": 17, "tasks": ["Remove the lemon wedge and shrimp from the cutting board to prepare it for cleaning."], "length": 309} +{"episode_index": 18, "tasks": ["Remove the squash and steak from the cutting board to prepare it for cleaning."], "length": 292} +{"episode_index": 19, "tasks": ["Remove the sweet potato and steak from the cutting board to prepare it for cleaning."], "length": 290} +{"episode_index": 20, "tasks": ["Remove the eggplant and steak from the cutting board to prepare it for cleaning."], "length": 336} +{"episode_index": 21, "tasks": ["Remove the broccoli and shrimp from the cutting board to prepare it for cleaning."], "length": 238} +{"episode_index": 22, "tasks": ["Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 296} +{"episode_index": 23, "tasks": ["Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 251} +{"episode_index": 24, "tasks": ["Remove the onion and fish from the cutting board to prepare it for cleaning."], "length": 263} +{"episode_index": 25, "tasks": ["Remove the eggplant and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 295} +{"episode_index": 26, "tasks": ["Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 305} +{"episode_index": 27, "tasks": ["Remove the avocado and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 249} +{"episode_index": 28, "tasks": ["Remove the tomato and shrimp from the cutting board to prepare it for cleaning."], "length": 314} +{"episode_index": 29, "tasks": ["Remove the broccoli and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 317} +{"episode_index": 30, "tasks": ["Remove the squash and steak from the cutting board to prepare it for cleaning."], "length": 336} +{"episode_index": 31, "tasks": ["Remove the cucumber and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 375} +{"episode_index": 32, "tasks": ["Remove the mushroom and fish from the cutting board to prepare it for cleaning."], "length": 292} +{"episode_index": 33, "tasks": ["Remove the tomato and shrimp from the cutting board to prepare it for cleaning."], "length": 359} +{"episode_index": 34, "tasks": ["Remove the squash and shrimp from the cutting board to prepare it for cleaning."], "length": 320} +{"episode_index": 35, "tasks": ["Remove the broccoli and steak from the cutting board to prepare it for cleaning."], "length": 378} +{"episode_index": 36, "tasks": ["Remove the tomato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 319} +{"episode_index": 37, "tasks": ["Remove the avocado and shrimp from the cutting board to prepare it for cleaning."], "length": 326} +{"episode_index": 38, "tasks": ["Remove the lemon and shrimp from the cutting board to prepare it for cleaning."], "length": 414} +{"episode_index": 39, "tasks": ["Remove the onion and shrimp from the cutting board to prepare it for cleaning."], "length": 313} +{"episode_index": 40, "tasks": ["Remove the tomato and fish from the cutting board to prepare it for cleaning."], "length": 341} +{"episode_index": 41, "tasks": ["Remove the lemon wedge and steak from the cutting board to prepare it for cleaning."], "length": 417} +{"episode_index": 42, "tasks": ["Remove the corn and shrimp from the cutting board to prepare it for cleaning."], "length": 266} +{"episode_index": 43, "tasks": ["Remove the tomato and fish from the cutting board to prepare it for cleaning."], "length": 292} +{"episode_index": 44, "tasks": ["Remove the bell pepper and steak from the cutting board to prepare it for cleaning."], "length": 276} +{"episode_index": 45, "tasks": ["Remove the lemon wedge and steak from the cutting board to prepare it for cleaning."], "length": 290} +{"episode_index": 46, "tasks": ["Remove the broccoli and shrimp from the cutting board to prepare it for cleaning."], "length": 335} +{"episode_index": 47, "tasks": ["Remove the tomato and fish from the cutting board to prepare it for cleaning."], "length": 284} +{"episode_index": 48, "tasks": ["Remove the sweet potato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 474} +{"episode_index": 49, "tasks": ["Remove the garlic and fish from the cutting board to prepare it for cleaning."], "length": 258} +{"episode_index": 50, "tasks": ["Remove the tomato and steak from the cutting board to prepare it for cleaning."], "length": 332} +{"episode_index": 51, "tasks": ["Remove the avocado and fish from the cutting board to prepare it for cleaning."], "length": 247} +{"episode_index": 52, "tasks": ["Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 427} +{"episode_index": 53, "tasks": ["Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 325} +{"episode_index": 54, "tasks": ["Remove the lemon wedge and shrimp from the cutting board to prepare it for cleaning."], "length": 280} +{"episode_index": 55, "tasks": ["Remove the lime and fish from the cutting board to prepare it for cleaning."], "length": 366} +{"episode_index": 56, "tasks": ["Remove the squash and fish from the cutting board to prepare it for cleaning."], "length": 314} +{"episode_index": 57, "tasks": ["Remove the carrot and fish from the cutting board to prepare it for cleaning."], "length": 389} +{"episode_index": 58, "tasks": ["Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 334} +{"episode_index": 59, "tasks": ["Remove the lemon and fish from the cutting board to prepare it for cleaning."], "length": 249} +{"episode_index": 60, "tasks": ["Remove the sweet potato and shrimp from the cutting board to prepare it for cleaning."], "length": 293} +{"episode_index": 61, "tasks": ["Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 381} +{"episode_index": 62, "tasks": ["Remove the sweet potato and fish from the cutting board to prepare it for cleaning."], "length": 314} +{"episode_index": 63, "tasks": ["Remove the mushroom and fish from the cutting board to prepare it for cleaning."], "length": 378} +{"episode_index": 64, "tasks": ["Remove the broccoli and steak from the cutting board to prepare it for cleaning."], "length": 347} +{"episode_index": 65, "tasks": ["Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 334} +{"episode_index": 66, "tasks": ["Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 450} +{"episode_index": 67, "tasks": ["Remove the carrot and fish from the cutting board to prepare it for cleaning."], "length": 290} +{"episode_index": 68, "tasks": ["Remove the lime and fish from the cutting board to prepare it for cleaning."], "length": 333} +{"episode_index": 69, "tasks": ["Remove the lemon wedge and fish from the cutting board to prepare it for cleaning."], "length": 419} +{"episode_index": 70, "tasks": ["Remove the mushroom and fish from the cutting board to prepare it for cleaning."], "length": 508} +{"episode_index": 71, "tasks": ["Remove the lime and shrimp from the cutting board to prepare it for cleaning."], "length": 340} +{"episode_index": 72, "tasks": ["Remove the garlic and fish from the cutting board to prepare it for cleaning."], "length": 251} +{"episode_index": 73, "tasks": ["Remove the cucumber and fish from the cutting board to prepare it for cleaning."], "length": 308} +{"episode_index": 74, "tasks": ["Remove the squash and steak from the cutting board to prepare it for cleaning."], "length": 319} +{"episode_index": 75, "tasks": ["Remove the cucumber and steak from the cutting board to prepare it for cleaning."], "length": 253} +{"episode_index": 76, "tasks": ["Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 300} +{"episode_index": 77, "tasks": ["Remove the avocado and steak from the cutting board to prepare it for cleaning."], "length": 321} +{"episode_index": 78, "tasks": ["Remove the lime and fish from the cutting board to prepare it for cleaning."], "length": 291} +{"episode_index": 79, "tasks": ["Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 290} +{"episode_index": 80, "tasks": ["Remove the tomato and steak from the cutting board to prepare it for cleaning."], "length": 239} +{"episode_index": 81, "tasks": ["Remove the eggplant and fish from the cutting board to prepare it for cleaning."], "length": 350} +{"episode_index": 82, "tasks": ["Remove the cucumber and shrimp from the cutting board to prepare it for cleaning."], "length": 384} +{"episode_index": 83, "tasks": ["Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 346} +{"episode_index": 84, "tasks": ["Remove the cucumber and steak from the cutting board to prepare it for cleaning."], "length": 449} +{"episode_index": 85, "tasks": ["Remove the sweet potato and fish from the cutting board to prepare it for cleaning."], "length": 251} +{"episode_index": 86, "tasks": ["Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 251} +{"episode_index": 87, "tasks": ["Remove the cucumber and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 377} +{"episode_index": 88, "tasks": ["Remove the onion and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 404} +{"episode_index": 89, "tasks": ["Remove the carrot and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 390} +{"episode_index": 90, "tasks": ["Remove the lime and shrimp from the cutting board to prepare it for cleaning."], "length": 369} +{"episode_index": 91, "tasks": ["Remove the lemon and fish from the cutting board to prepare it for cleaning."], "length": 358} +{"episode_index": 92, "tasks": ["Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 327} +{"episode_index": 93, "tasks": ["Remove the bell pepper and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 257} +{"episode_index": 94, "tasks": ["Remove the garlic and fish from the cutting board to prepare it for cleaning."], "length": 412} +{"episode_index": 95, "tasks": ["Remove the squash and fish from the cutting board to prepare it for cleaning."], "length": 331} +{"episode_index": 96, "tasks": ["Remove the sweet potato and steak from the cutting board to prepare it for cleaning."], "length": 456} +{"episode_index": 97, "tasks": ["Remove the bell pepper and shrimp from the cutting board to prepare it for cleaning."], "length": 316} +{"episode_index": 98, "tasks": ["Remove the bell pepper and fish from the cutting board to prepare it for cleaning."], "length": 332} +{"episode_index": 99, "tasks": ["Remove the eggplant and chicken drumstick from the cutting board to prepare it for cleaning."], "length": 314} +{"episode_index": 100, "tasks": ["Remove the lime and fish from the cutting board to prepare it for cleaning."], "length": 307} +{"episode_index": 101, "tasks": ["Remove the squash and fish from the cutting board to prepare it for cleaning."], "length": 393} +{"episode_index": 102, "tasks": ["Remove the mushroom and shrimp from the cutting board to prepare it for cleaning."], "length": 319} +{"episode_index": 103, "tasks": ["Remove the cucumber and steak from the cutting board to prepare it for cleaning."], "length": 314} diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96f0709dd708b689c153736be99b5191e20d8736 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3453853777717142]], [[0.27539550302542887]], [[0.25452198641907936]]], "std": [[[0.17135362946463445]], [[0.1337293404411295]], [[0.13519388203271604]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4207405808392693]], [[0.3866573330748315]], [[0.36314067945293355]]], "std": [[[0.24245452987854904]], [[0.23768001792417612]], [[0.24406021929221142]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42959587306602326]], [[0.3960881772508808]], [[0.37295015462239584]]], "std": [[[0.24698587969750294]], [[0.24207249695187222]], [[0.24820288148303432]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [337]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [337]}, "observation.state": {"min": [2.5801472322809866, -1.7416063986105534, 0.6999994051327506, 0.0, 0.0, -0.7071922421455383, 0.7070212960243225, 0.24302704529534913, -0.243482243210567, 0.23000163224326275, -0.9988275766372681, -0.4431256055831909, -0.16451258957386017, 0.0008427294087596238, 0.018059011736404267, -0.04011067804245591], "max": [2.580657738348506, -1.7409547394623681, 0.7011321242565223, 0.0, 0.0, -0.7065314054489136, 0.7076816558837891, 0.5266815161013803, 0.03251440072414491, 0.6095331497594688, 0.9138057231903076, 0.4379352033138275, 0.0822276696562767, 0.09226919710636139, 0.040545552765668694, -0.018937030439953043], "mean": [2.5803682738076636, -1.7413282004974162, 0.7004817646781956, 0.0, 0.0, -0.7068771067288226, 0.7073362959598575, 0.41904804260573036, -0.06103366776365712, 0.3200095721650402, -0.5009201154864507, -0.05725463673207102, -0.01936621504042295, 0.027255177915680776, 0.0364613128822094, -0.033425622199712984], "std": [0.00016863050421075213, 0.0002639425604324042, 0.0004577633399684759, 0.0, 0.0, 0.00022528442051034827, 0.00022514137979565927, 0.0852775828083639, 0.09873729023329322, 0.08772701850264102, 0.8178673333695943, 0.2681950105152648, 0.05962503511073011, 0.017098837694430418, 0.006701382204014087, 0.007900246220925078], "count": [337]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8142857142857143, -0.8357142857142857, -0.8571428571428572, -0.05428571428571429, -0.11142857142857143, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 0.95, 0.7428571428571429, 0.15428571428571428, 0.12285714285714287, 0.18857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017401441288681634, 0.00741839762611276, -0.06273844849512504, 0.004501907587961, 0.007036880033912679, -0.008656210258584145, -0.3768545994065282], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22459949697765308, 0.3643653958928383, 0.2916647181950985, 0.021117751712896846, 0.029003843676036662, 0.08894024093217008, 0.9262724280178826], "count": [337]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04747774451971054], "std": [0.21265843510627747], "count": [337]}, "next.done": {"min": [false], "max": [true], "mean": [0.002967359050445104], "std": [0.05439258985110789], "count": [337]}, "timestamp": {"min": [0.0], "max": [16.8], "mean": [8.4], "std": [4.864154602806124], "count": [337]}, "frame_index": {"min": [0], "max": [336], "mean": [168.0], "std": [97.28309205612247], "count": [337]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [337]}, "index": {"min": [0], "max": [336], "mean": [168.0], "std": [97.28309205612247], "count": [337]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [337]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4852992571662454]], [[0.385135243733724]], [[0.31123241469439333]]], "std": [[[0.17671137416798932]], [[0.17696367708090852]], [[0.17841346492629057]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5331661215389476]], [[0.44479478963216146]], [[0.3851172485351562]]], "std": [[[0.2077352495761158]], [[0.2122490775151285]], [[0.21177279211022293]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5460033407772288]], [[0.4484296916886872]], [[0.3848365723853018]]], "std": [[[0.19155225429829792]], [[0.20818108897810622]], [[0.2133299741702947]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [242]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [242]}, "observation.state": {"min": [2.502153760451844, -1.5127321212951088, 0.6999982452222113, 0.0, 0.0, -0.7082251310348511, 0.7059866189956665, 0.05526029353377271, -0.17567251522596417, 0.24320012366190402, -0.9997982382774353, -0.16073358058929443, -0.188643217086792, 0.00039918307447806, 0.007245997145749347, -0.04102349649843305], "max": [2.5038424936615904, -1.5120719743931024, 0.7030872515623864, 0.0, 0.0, -0.7064900994300842, 0.7077229022979736, 0.47947749892620095, 0.10288260794108561, 0.6018703004914817, 0.9997530579566956, 0.1501249521970749, 0.1602056622505188, 0.09965230524539948, 0.04106465550255448, -0.020536540379533105], "mean": [2.5034435293585746, -1.5124891977870691, 0.7012305863009933, 0.0, 0.0, -0.7070493932105293, 0.7071639476728834, 0.4015954552180061, -0.01805430302857806, 0.3257151294013777, -0.19856483704787642, -0.018704251601737887, -0.03369306219252199, 0.024660639743746857, 0.03332729367775412, -0.03741841435252144], "std": [0.0003622137402809017, 0.00025030794277029696, 0.0013081836771185068, 0.0, 0.0, 0.0003767907662959534, 0.00037696462262551465, 0.08857544022878394, 0.08108960411114992, 0.0844417935422899, 0.9696599052680775, 0.0814186421957122, 0.10481162242654447, 0.024979607372723155, 0.00930774384919331, 0.0038597771454025737], "count": [242]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.16285714285714287, -0.3142857142857143, -0.10857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9071428571428573, 1.0, 0.9714285714285714, 0.14285714285714285, 0.19714285714285715, 0.15714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.09226682408500592, -0.010035419126328202, -0.1343860684769776, 0.0034002361275088564, 0.008642266824085003, 0.0050413223140495875, -0.5206611570247934], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.40124152366257354, 0.49560479969819643, 0.3728462162107829, 0.044370470062175794, 0.0701851276387338, 0.05657497466023481, 0.8537634095963615], "count": [242]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06611569970846176], "std": [0.24848423898220062], "count": [242]}, "next.done": {"min": [false], "max": [true], "mean": [0.004132231404958678], "std": [0.06414948221595052], "count": [242]}, "timestamp": {"min": [0.0], "max": [12.05], "mean": [6.0249999999999995], "std": [3.4929393066585055], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [242]}, "index": {"min": [337], "max": [578], "mean": [457.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [242]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6710932922363281]], [[0.6288739061542586]], [[0.5782589428471584]]], "std": [[[0.2065620175300228]], [[0.19657514504713608]], [[0.2306766380329766]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.09803921568627451]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4196431489832261]], [[0.4548587664435892]], [[0.4592428846172258]]], "std": [[[0.28363466340141474]], [[0.24252436664125387]], [[0.23520032354712708]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.10196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4824165230545343]], [[0.5089559589460784]], [[0.5058529052734375]]], "std": [[[0.30403950141383257]], [[0.25115386081687413]], [[0.23960679845298222]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [283]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [283]}, "observation.state": {"min": [2.4842298348509626, -1.5113547773786822, 0.6999988596785249, 0.0, 0.0, -0.7075865864753723, 0.7066267132759094, 0.04798347964485905, -0.2636691471643098, 0.22904267887274454, -0.9977892637252808, -0.4000670313835144, -0.209908589720726, 3.337157249916345e-05, 0.01876464554254884, -0.040006534401207404], "max": [2.485909656376485, -1.5098228709485702, 0.7033634895276494, 0.0, 0.0, -0.7061008214950562, 0.7081112861633301, 0.45274537744842513, 0.03984090338407631, 0.6196534706421793, 0.9958125948905945, 0.31696411967277527, 0.16712181270122528, 0.13919371366500854, 0.0405694759854021, -0.003295755084111758], "mean": [2.4848973881053076, -1.5109733322678391, 0.7008645098930372, 0.0, 0.0, -0.7069407699386139, 0.7072724744203656, 0.35197968317084893, -0.12012737023564855, 0.3307561602085858, -0.027617046774065537, -0.1626318705271495, -0.05477949592719667, 0.042727007545605766, 0.036562227772840836, -0.03333271048452561], "std": [0.0005447475421786749, 0.0005760754448481576, 0.0012350178619967911, 0.0, 0.0, 0.0004334239333082479, 0.0004330838423696583, 0.07741313799115741, 0.09255998813826065, 0.1009426102386555, 0.9595224992939841, 0.19031509916527495, 0.09355525610476739, 0.048020147826468206, 0.0056846846238237155, 0.009831846021623236], "count": [283]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.13142857142857142, -0.22, -0.44285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 1.0, 0.9571428571428572, 0.13714285714285715, 0.18285714285714286, 0.30285714285714294, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0516153457849571, -0.015774861181221633, -0.07920242301867747, -0.005966683493185261, 0.021978798586572448, -0.011034830893488133, -0.519434628975265], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3749290278027555, 0.45621646646750347, 0.351984656134026, 0.03889910416552293, 0.05357736919226279, 0.1426418999812122, 0.8545101908235668], "count": [283]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05653710290789604], "std": [0.23095597326755524], "count": [283]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035335689045936395], "std": [0.05933871245140164], "count": [283]}, "timestamp": {"min": [0.0], "max": [14.1], "mean": [7.050000000000001], "std": [4.08472765310002], "count": [283]}, "frame_index": {"min": [0], "max": [282], "mean": [141.0], "std": [81.69455306200041], "count": [283]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [283]}, "index": {"min": [579], "max": [861], "mean": [720.0], "std": [81.69455306200041], "count": [283]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [283]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4080797466203278]], [[0.34604170137293194]], [[0.3180236684761796]]], "std": [[[0.2629190076689647]], [[0.22907758432372458]], [[0.18937673587387505]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4014004265280331]], [[0.38165221150716144]], [[0.3753536209405637]]], "std": [[[0.23616526479657615]], [[0.23853318180427852]], [[0.24549667122914154]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4336574659160539]], [[0.41229291310029875]], [[0.40461020436006434]]], "std": [[[0.2191802662702196]], [[0.22897826982609729]], [[0.24033402179047966]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [347]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [347]}, "observation.state": {"min": [2.1296293771963533, -0.8041268806058222, 0.699999341946084, 0.0, 0.0, 0.7066413164138794, 0.707061231136322, 0.11517619909639598, -0.00430430533424353, 0.22852975565307454, -0.9915068745613098, -0.265015572309494, -0.17395181953907013, 0.01001766137778759, 0.01889507283882922, -0.04030888998298304], "max": [2.1307497778494384, -0.8032236612195257, 0.7020135453884795, 0.0, 0.0, 0.7071523070335388, 0.7075720429420471, 0.434255063870133, 0.3915597912652622, 0.6099669424440864, -0.9623563289642334, -0.040592506527900696, -0.005032630637288094, 0.07276841253042221, 0.04000342744070438, -0.01749018983157601], "mean": [2.1301754645589717, -0.803752726783786, 0.7011707610872655, 0.0, 0.0, 0.7069017583080259, 0.7073117018776599, 0.3695625898855183, 0.1850487629283533, 0.32836421095296214, -0.9775729871620706, -0.19017704226269846, -0.038133816564085245, 0.03862666053380764, 0.03584006429236791, -0.036112177677620164], "std": [0.00040809289278659745, 0.0003445383375294874, 0.000787510636616027, 0.0, 0.0, 0.0001587002928953131, 0.0001586179254261861, 0.06619686096109473, 0.09517295640754518, 0.10311467152824821, 0.010689507638670536, 0.06104866966973594, 0.0324216338862537, 0.01857872869568471, 0.0066486127143827855, 0.00676362769028934], "count": [347]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5142857142857143, -0.06, -0.08857142857142856, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6571428571428571, 0.8428571428571429, 0.7928571428571428, 0.04, 0.12571428571428572, 0.1657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02853025936599426, 0.00874845615479625, -0.03386167146974059, -0.000312885961300947, 0.0022231370934540965, 0.005121449156031289, -0.5043227665706052], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25242457425401976, 0.3730379018212485, 0.29721715457382936, 0.009130702368153443, 0.03043873873422817, 0.03832125708000401, 0.8635152269176116], "count": [347]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.046109508723020554], "std": [0.20972226560115814], "count": [347]}, "next.done": {"min": [false], "max": [true], "mean": [0.002881844380403458], "std": [0.05360540414333796], "count": [347]}, "timestamp": {"min": [0.0], "max": [17.3], "mean": [8.65], "std": [5.008492787256461], "count": [347]}, "frame_index": {"min": [0], "max": [346], "mean": [173.0], "std": [100.16985574512923], "count": [347]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [347]}, "index": {"min": [862], "max": [1208], "mean": [1035.0], "std": [100.16985574512923], "count": [347]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [347]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6527701122807522]], [[0.5824801695580576]], [[0.5476145737591912]]], "std": [[[0.20072105765632436]], [[0.24195734218495807]], [[0.2693051388285936]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5844434012618719]], [[0.5453162740071614]], [[0.5112817023782169]]], "std": [[[0.21277587440783657]], [[0.21875348535207473]], [[0.22538977211702238]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6071378945743336]], [[0.5509689606311275]], [[0.5078169154746859]]], "std": [[[0.183643056610028]], [[0.20789123199037804]], [[0.2226808456303521]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [318]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [318]}, "observation.state": {"min": [2.2633508179868236, -1.4873183030971922, 0.6999991688912002, 0.0, 0.0, -0.7073448300361633, 0.7068686485290527, 0.17662972758816653, -0.16152906440289572, 0.23028682722247706, -0.9991387128829956, -0.20357348024845123, -0.11052551865577698, 4.8311099817510694e-05, 0.020514524108529626, -0.03994988032065095], "max": [2.263609835554657, -1.4872465967254722, 0.7004058307779945, 0.0, 0.0, -0.7070801258087158, 0.7071333527565002, 0.46814873363331255, 0.21970404299573243, 0.5871659400016618, 0.9944992065429688, 0.19999384880065918, 0.12777496874332428, 0.018922356888651848, 0.03997791498673289, -0.020552036302943166], "mean": [2.263492093500873, -1.4872819761230525, 0.7001937191646025, 0.0, 0.0, -0.7071873688098019, 0.7070261761077545, 0.40082731670179006, 0.006024394134291103, 0.307675707104064, -0.8099243719622774, -0.10015893654909523, 0.013069339026257678, 0.007934779112474644, 0.0360120256857166, -0.03676683543377043], "std": [5.627108763316438e-05, 2.0587730747109722e-05, 0.00015681344610140883, 0.0, 0.0, 6.58577417189587e-05, 6.585182979263321e-05, 0.06824979872885241, 0.10096390597139039, 0.07772620194029563, 0.5704139698802269, 0.08318060562156389, 0.037887310705596686, 0.005511022745062483, 0.005560451754895465, 0.0043450741488208575], "count": [318]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9285714285714287, -1.0, -0.7285714285714285, -0.0, -0.24, -0.08285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 1.0, 0.6142857142857143, 0.017142857142857144, 0.1657142857142857, 0.08285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019766397124887668, -0.009299191374663096, -0.028773584905660402, 0.0004582210242587603, 0.0008355795148248007, 0.0035130278526505016, -0.5345911949685535], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23747159335155027, 0.3700135936727448, 0.27075350667904174, 0.00205695288828471, 0.04472302469846774, 0.02946763435499896, 0.8451107940750093], "count": [318]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050314463675022125], "std": [0.21859301626682281], "count": [318]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031446540880503146], "std": [0.05598897426026684], "count": [318]}, "timestamp": {"min": [0.0], "max": [15.85], "mean": [7.924999999999999], "std": [4.589911945415365], "count": [318]}, "frame_index": {"min": [0], "max": [317], "mean": [158.5], "std": [91.79823890830731], "count": [318]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [318]}, "index": {"min": [1209], "max": [1526], "mean": [1367.5], "std": [91.79823890830731], "count": [318]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [318]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10980392156862745]], [[0.0784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7377849246754365]], [[0.6660128024232154]], [[0.5861906086042815]]], "std": [[[0.18738897395970733]], [[0.18762749664349604]], [[0.19881455812586346]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5283181038650812]], [[0.48354434443455113]], [[0.45025811468386184]]], "std": [[[0.23418817291673413]], [[0.2424974242042446]], [[0.24493395117278224]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49070036944221046]], [[0.4485229103237975]], [[0.42030975162281714]]], "std": [[[0.23514434133211817]], [[0.24395185325382593]], [[0.24659512687366342]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [339]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [339]}, "observation.state": {"min": [2.608197220851826, -0.8230711257955051, 0.6999991425391426, 0.0, 0.0, 0.7042821645736694, 0.7071021199226379, 0.23931672104410817, -0.03741242635220399, 0.23010765574671188, -0.9982094764709473, -0.06076417863368988, -0.14322982728481293, 3.524743806337938e-05, 0.020546365660593587, -0.03999292727180943], "max": [2.6116330713126072, -0.8221915392111587, 0.7021056030214226, 0.0, 0.0, 0.7071114182472229, 0.7099201083183289, 0.5668642266826809, 0.2858546722109381, 0.5964403703365321, 0.999340295791626, 0.058102771639823914, 0.07996775209903717, 0.02030138112604618, 0.04063890038453353, -0.020520194805323234], "mean": [2.6094473062071817, -0.8225213782305384, 0.7007639228092483, 0.0, 0.0, 0.70614078755224, 0.7080702711347282, 0.4583845836695234, 0.08593815617564016, 0.31648090219295333, -0.3897634894095339, -0.019810853718304704, -0.039034006479786915, 0.005839861057718301, 0.03871598513018052, -0.0352165669878842], "std": [0.0011187163553616623, 0.00028455034267366045, 0.0006885171558718141, 0.0, 0.0, 0.0009116715759512416, 0.000908162665273434, 0.080126208411067, 0.11112811876611457, 0.0800991701101437, 0.9164759599533137, 0.042800295332522956, 0.06598268644414525, 0.00451985108965774, 0.0025324221121672407, 0.0059151873462848555], "count": [339]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8785714285714286, -0.6071428571428572, -1.0, -0.045714285714285714, -0.13714285714285715, -0.05428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5714285714285715, 0.8142857142857143, 0.7285714285714285, 0.014285714285714287, 0.1142857142857143, 0.03142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015107458912768617, 0.01807838179519593, -0.04993678887484202, -0.0003708386009270965, 0.006708807416772025, -0.0003371260008428146, -0.3215339233038348], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24569329813466612, 0.37086175606750427, 0.30207302878752174, 0.0044444249101305, 0.02813870640228146, 0.009911146078589065, 0.9468980600702754], "count": [339]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04719763994216919], "std": [0.21206136047840118], "count": [339]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029498525073746312], "std": [0.05423237849808329], "count": [339]}, "timestamp": {"min": [0.0], "max": [16.9], "mean": [8.450000000000001], "std": [4.893022242609026], "count": [339]}, "frame_index": {"min": [0], "max": [338], "mean": [169.0], "std": [97.86044485218052], "count": [339]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [339]}, "index": {"min": [1527], "max": [1865], "mean": [1696.0], "std": [97.86044485218052], "count": [339]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [339]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6853553317200904]], [[0.597389030306947]], [[0.4691976629518995]]], "std": [[[0.241393553614401]], [[0.28405589382839086]], [[0.293688559222357]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626976557712929]], [[0.48390743719362744]], [[0.43076998901367186]]], "std": [[[0.20054341925954916]], [[0.23816322488222952]], [[0.2603436533398415]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5279239872951134]], [[0.4563087086397059]], [[0.41320808979109225]]], "std": [[[0.18348041127436873]], [[0.21542978943868052]], [[0.23668789929383538]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [303]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [303]}, "observation.state": {"min": [1.1412292911639126, -0.8368242365790479, 0.6999977959461833, 0.0, 0.0, 0.7034201622009277, 0.7071043252944946, 0.2296182572608384, -0.03464215938854398, 0.23507516864326605, -0.9998719692230225, -0.11788643896579742, -0.1353927105665207, 0.01410635281354189, 0.016849572342965302, -0.04012810091503606], "max": [1.1453356754764301, -0.8357017811549023, 0.7030225333163447, 0.0, 0.0, 0.7071091532707214, 0.710774302482605, 0.5916918371585679, 0.23210827861138594, 0.5937093015184121, -0.9832102060317993, 0.12943413853645325, 0.17590224742889404, 0.045065104961395264, 0.04021705634226543, -0.009747357327329887], "mean": [1.1438087686067113, -0.8363592610933773, 0.7017508164782711, 0.0, 0.0, 0.704799226014921, 0.7094033509984662, 0.4330437054645158, 0.07304376913997762, 0.31683510778945656, -0.9931473000214832, -0.06310758972694182, 0.019687501393755545, 0.031123909235566165, 0.03483009619172606, -0.03132940448758829], "std": [0.00176918491565886, 0.0004410554681073645, 0.0012319877876420123, 0.0, 0.0, 0.0015731823308752476, 0.0015651264989050451, 0.09787471453291488, 0.09170519253135262, 0.08443344456828941, 0.003774642730084828, 0.048447571163114656, 0.07685330006485469, 0.007192860405952237, 0.007648830314786718, 0.011588895927241112], "count": [303]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8642857142857142, -0.95, -0.9357142857142857, -0.03142857142857143, -0.2257142857142857, -0.18857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9, 1.0, 0.8285714285714285, 0.04857142857142857, 0.19428571428571428, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004314002828854296, 0.01876473361621883, -0.060631777463460684, 0.000612918434700613, 0.008033946251768032, -0.00789250353606789, -0.35313531353135313], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.300535117831226, 0.4287224427647675, 0.32680059817009055, 0.007859917397243756, 0.056521915580325974, 0.04993560643368497, 0.9355722582126454], "count": [303]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.052805282175540924], "std": [0.22364453971385956], "count": [303]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033003300330033004], "std": [0.05735362111215434], "count": [303]}, "timestamp": {"min": [0.0], "max": [15.1], "mean": [7.549999999999999], "std": [4.373404470966145], "count": [303]}, "frame_index": {"min": [0], "max": [302], "mean": [151.0], "std": [87.46808941932291], "count": [303]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [303]}, "index": {"min": [1866], "max": [2168], "mean": [2017.0], "std": [87.46808941932291], "count": [303]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [303]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6684793485753677]], [[0.6662749304677925]], [[0.6120459516936657]]], "std": [[[0.19328436376170322]], [[0.207511494598023]], [[0.2103891142346029]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6140995100432751]], [[0.5799119657628676]], [[0.5374002547918582]]], "std": [[[0.24097769614153353]], [[0.2324347582438982]], [[0.2321104708229599]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6812472767549402]], [[0.6441922068876378]], [[0.5954537724513633]]], "std": [[[0.23892860121607312]], [[0.2310315248105343]], [[0.23464991131711058]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [302]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [302]}, "observation.state": {"min": [4.699778951035397, -0.797597719611798, 0.6999983757095614, 0.0, 0.0, 0.7063741087913513, 0.7071589231491089, 0.15922179371373402, -0.32100199532751184, 0.2400327506886235, -0.9985125660896301, -0.2613246440887451, -0.14807601273059845, 0.014017165638506413, 0.014857162447201961, -0.040258448892207706], "max": [4.700438591467551, -0.7973451385135139, 0.7007192379612018, 0.0, 0.0, 0.7070545554161072, 0.7078386545181274, 0.4765417379047244, 0.052019501095642795, 0.5790333738350483, -0.9632881283760071, 0.11122488975524902, -0.006007821764796972, 0.10016841441392899, 0.04022251683756931, -0.018626371856760787], "mean": [4.700104070249042, -0.7974636844159627, 0.7003137632558831, 0.0, 0.0, 0.7067136969787395, 0.7074996004041457, 0.3945315683134882, -0.07727751915809404, 0.32047849814389706, -0.9832500033820701, -0.14600803928807476, -0.038859426315306436, 0.04125598871722719, 0.03508893713845247, -0.03484360904757845], "std": [0.00017343886390186976, 7.854933059136179e-05, 0.0002566779153138614, 0.0, 0.0, 0.00018031338325808332, 0.00018013876890452573, 0.0741656732885126, 0.11293108997050999, 0.08021811124610609, 0.009940741953214132, 0.08798913266845206, 0.02148390613822374, 0.01965977489528894, 0.007393635038843776, 0.006973008816367326], "count": [302]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8928571428571429, -1.0, -1.0, -0.10857142857142858, -0.18285714285714286, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.807142857142857, 1.0, 0.7571428571428572, 0.10285714285714286, 0.1657142857142857, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.022209082308420038, -0.003807947019867567, -0.0107379375591296, 9.460737937558444e-06, 0.0003027436140018922, -0.00797540208136235, -0.44370860927152317], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3282163032026615, 0.42496495186217415, 0.3259037505310547, 0.02027183602494312, 0.03647852485067175, 0.06315527851554537, 0.8961711165052882], "count": [302]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05298013240098953], "std": [0.22399383783340454], "count": [302]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033112582781456954], "std": [0.05744818401621679], "count": [302]}, "timestamp": {"min": [0.0], "max": [15.05], "mean": [7.525], "std": [4.358970635367942], "count": [302]}, "frame_index": {"min": [0], "max": [301], "mean": [150.5], "std": [87.17941270735884], "count": [302]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [302]}, "index": {"min": [2169], "max": [2470], "mean": [2319.5], "std": [87.17941270735884], "count": [302]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [302]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.03137254901960784]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9450980392156862]], [[0.9450980392156862]]], "mean": [[[0.6718474097158394]], [[0.627192756802428]], [[0.5758136249617034]]], "std": [[[0.18475844721701093]], [[0.18418864462262458]], [[0.219664891098142]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.09019607843137255]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5820943675321691]], [[0.5845288073969823]], [[0.5885866902669271]]], "std": [[[0.27063706448387304]], [[0.2602147519483818]], [[0.24355699888669768]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5237228447409237]], [[0.5244748385560278]], [[0.5270489884918811]]], "std": [[[0.2799096319359391]], [[0.2700687665642239]], [[0.2570895431678785]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [377]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [377]}, "observation.state": {"min": [2.9392008312518594, -0.8003992243043394, 0.7000000164260044, 0.0, 0.0, 0.7062747478485107, 0.7071396112442017, 0.17622101059575135, -0.11778294036862746, 0.22935635874073645, -0.9960277080535889, -0.056600362062454224, -0.31932777166366577, 2.3953942218213342e-05, 0.010069131977514079, -0.04001408896168012], "max": [2.940351732051684, -0.7989569228069251, 0.7023025349827322, 0.0, 0.0, 0.7070739269256592, 0.7079377770423889, 0.4708795238148234, 0.22998589917122692, 0.5708049087750302, 0.9957995414733887, 0.1961526870727539, 0.2991706132888794, 0.15335743129253387, 0.04008699128436762, -0.001446962569861568], "mean": [2.939670507846705, -0.7996888436140526, 0.701207174877274, 0.0, 0.0, 0.7066521742615839, 0.7075609849365699, 0.3408077467310326, 0.03562280497127563, 0.32693882688076287, 0.5805630829353231, 0.027035110449759335, 0.1033898338240717, 0.053529305064033667, 0.03275146807947482, -0.031334514771405204], "std": [0.0003808035617968717, 0.0004999176124388607, 0.0008131059492735396, 0.0, 0.0, 0.00026800372895249787, 0.00026772296385537114, 0.06446774201019363, 0.1145495183270988, 0.08577624936015757, 0.7865074563450362, 0.0772904737806561, 0.14712110235456932, 0.049480807888305514, 0.010205773344146034, 0.011503717608449813], "count": [377]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9785714285714284, -0.9357142857142857, -0.5785714285714286, -0.1142857142857143, -0.12, -0.18857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 1.0, 0.9785714285714284, 0.15142857142857147, 0.22285714285714286, 0.1457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002349374763167873, 0.011955286093217155, 0.008999621068586601, -0.00025767336112163806, 0.002197802197802198, -0.004092459264873059, -0.3103448275862069], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3199782476785824, 0.3768900061160213, 0.3436398726805262, 0.03570175867820801, 0.04054063353075063, 0.048683980154147155, 0.95062405186829], "count": [377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04244031757116318], "std": [0.20159152150154114], "count": [377]}, "next.done": {"min": [false], "max": [true], "mean": [0.002652519893899204], "std": [0.05143426904420508], "count": [377]}, "timestamp": {"min": [0.0], "max": [18.8], "mean": [9.4], "std": [5.441507144165116], "count": [377]}, "frame_index": {"min": [0], "max": [376], "mean": [188.0], "std": [108.83014288330233], "count": [377]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [377]}, "index": {"min": [2471], "max": [2847], "mean": [2659.0], "std": [108.83014288330233], "count": [377]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [377]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6757829649682139]], [[0.5843701842064951]], [[0.5106991038602942]]], "std": [[[0.19002222731080115]], [[0.20437301661308935]], [[0.21932715847260437]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46694945989870557]], [[0.4767126835841759]], [[0.4766961987065334]]], "std": [[[0.2512785819336546]], [[0.22096023993806976]], [[0.20021588547628777]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46157016051049327]], [[0.4769238825779335]], [[0.4811734224207261]]], "std": [[[0.24821539754860292]], [[0.21481321196138936]], [[0.19155613383931303]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [286]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [286]}, "observation.state": {"min": [0.7552455680547293, -1.2541550461973303, 0.6999973072800305, 0.0, 0.0, -1.0, 1.1496534568777861e-07, 0.019403011847976215, -0.11956678532430542, 0.22913144435667931, -0.9875931143760681, -0.45680636167526245, -0.14695768058300018, 0.00013981055235490203, 0.006196272216667565, -0.04102851990146028], "max": [0.7563691755011842, -1.2523117745400578, 0.7033665213597733, 0.0, 0.0, 1.0, 0.0017119187396019697, 0.4958189410750456, 0.1720598902039563, 0.6070357900361817, 0.9807599782943726, 0.45705509185791016, 0.10617103427648544, 0.042326729744672775, 0.039975518080027216, -0.019926860599952315], "mean": [0.755750817098726, -1.2529195737090228, 0.7014666703016279, 0.0, 0.0, -0.23776198058695228, 0.0004542951012337627, 0.373417964082063, 0.03627793864306542, 0.31764415687128855, 0.4222093678854562, 0.17253216538395916, -0.01599530374792616, 0.017482236694154604, 0.035968671395739546, -0.037250174643603924], "std": [0.00036076496399261687, 0.0005925636700208708, 0.0011780084705471964, 0.0, 0.0, 0.9713231832078961, 0.000589744038498232, 0.10010954359086385, 0.08594650116367283, 0.0957372033555672, 0.8523121323177545, 0.25100483620811465, 0.0422484309679594, 0.013641887101391524, 0.007886472942772327, 0.005117195745438669], "count": [286]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6285714285714287, -0.12571428571428572, -0.18, -0.11714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7285714285714285, 1.0, 0.8285714285714285, 0.08285714285714285, 0.14285714285714285, 0.2257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.08743756243756245, -0.008966033966033985, -0.09348151848151831, -0.005414585414585418, -0.0003896103896103907, 0.007132867132867139, -0.5874125874125874], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3822896104880168, 0.4435748685828125, 0.30603056229758246, 0.026388569314430094, 0.03874500545784839, 0.06685913581383189, 0.8092876201630962], "count": [286]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0559440553188324], "std": [0.2298136204481125], "count": [286]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034965034965034965], "std": [0.059027772783685775], "count": [286]}, "timestamp": {"min": [0.0], "max": [14.25], "mean": [7.125], "std": [4.128029190788262], "count": [286]}, "frame_index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [286]}, "index": {"min": [2848], "max": [3133], "mean": [2990.5], "std": [82.56058381576526], "count": [286]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [286]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44949181171492036]], [[0.3892852322447534]], [[0.3577443057789522]]], "std": [[[0.19769420430165605]], [[0.1682161102060833]], [[0.163071886040796]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48588858271580115]], [[0.3844605006797641]], [[0.30589277080461086]]], "std": [[[0.21179315726143833]], [[0.243175598689705]], [[0.27068846718124734]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49312730497472423]], [[0.38167657351026346]], [[0.29491678754021144]]], "std": [[[0.20143062160264402]], [[0.23895046993961866]], [[0.2706013521715289]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [381]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [381]}, "observation.state": {"min": [0.7948315666210557, -1.2832077668389184, 0.6999960624502976, 0.0, 0.0, -1.0, 7.344703334410951e-08, 0.07418947069338666, -0.13777302742641684, 0.2408623711171063, -0.9920987486839294, -0.30772557854652405, -0.23018988966941833, 1.642901224840898e-05, 0.020544528774456866, -0.04073272385948847], "max": [0.7954252944852218, -1.282116724321555, 0.7017184961004196, 0.0, 0.0, 1.0, 0.0008880290552042425, 0.4847329167028265, 0.1571369599383443, 0.6061977855599849, 0.9898838996887207, 0.05739210546016693, 0.15294750034809113, 0.05766582116484642, 0.040231346753811986, -0.02052203053555652], "mean": [0.7950788862128558, -1.2826573656623874, 0.7005752280957943, 0.0, 0.0, -0.22834641695648353, 0.0002716008278841316, 0.3615987340680588, 0.05792394621481753, 0.3143099310047237, -0.7855671623873273, -0.13401121609010722, -0.10821496112042368, 0.027079523951890935, 0.0359603195390004, -0.03653105007971559], "std": [0.0002152506697241434, 0.0002909247291643155, 0.0006337978555899641, 0.0, 0.0, 0.973579884671971, 0.0002766757634879871, 0.08623316296313928, 0.095867464524462, 0.0839117817556989, 0.5734055365183832, 0.11795878723369767, 0.09657271544647407, 0.021141704504020795, 0.005537675085027461, 0.005669030267933149], "count": [381]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7857142857142857, -0.8500000000000001, -0.5714285714285715, -0.09428571428571429, -0.16, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5714285714285715, 0.7928571428571428, 0.6928571428571428, 0.06285714285714286, 0.08571428571428572, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.040963629546306696, -0.0002999625046868855, -0.03704536932883388, -0.003292088488938884, 0.005676790401199849, 0.0011698537682789693, -0.4225721784776903], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24578732143074997, 0.3174246156829838, 0.24189684449651877, 0.01784415461884565, 0.02903520644879373, 0.04230696118597914, 0.9063292745887779], "count": [381]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04199475049972534], "std": [0.20057716965675354], "count": [381]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026246719160104987], "std": [0.05116427477590007], "count": [381]}, "timestamp": {"min": [0.0], "max": [19.0], "mean": [9.5], "std": [5.499242372060597], "count": [381]}, "frame_index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [381]}, "index": {"min": [3134], "max": [3514], "mean": [3324.0], "std": [109.98484744121194], "count": [381]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [381]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46500596768248315]], [[0.3467122892491958]], [[0.2908241780598958]]], "std": [[[0.1827997277725361]], [[0.14117319683864593]], [[0.15551506504264598]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5820891466327742]], [[0.4837815779143689]], [[0.4232745840035233]]], "std": [[[0.1831850294277826]], [[0.20555891611990298]], [[0.2195559332863401]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5646857156192555]], [[0.4939415055817249]], [[0.4467423131606158]]], "std": [[[0.2326918942429677]], [[0.242274325737239]], [[0.24850622882916612]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [334]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [334]}, "observation.state": {"min": [2.057968683813801, -0.7645081091208836, 0.6999981248117375, 0.0, 0.0, 0.7068601250648499, 0.7068582773208618, 0.007222203813261774, -0.20304941393691367, 0.256172477660625, -0.9969879984855652, -0.6204560399055481, -0.1414255052804947, 0.000290532479993999, 0.020562744798987086, -0.040564885195997755], "max": [2.05836029526269, -0.764087781866787, 0.7011683118652641, 0.0, 0.0, 0.7073552012443542, 0.7073533535003662, 0.3952076449176333, 0.17367548996168902, 0.5998112156511054, 0.9957130551338196, 0.008543640375137329, 0.12346358597278595, 0.12297286093235016, 0.04006441890097586, -0.020503816174700484], "mean": [2.0581918386895066, -0.7642932159266915, 0.7007039918513612, 0.0, 0.0, 0.707079423580341, 0.7071341026328994, 0.2708161070721634, -0.03588954520902475, 0.32497522782423544, -0.8704892229177281, -0.2856234145200181, -0.04062586946030911, 0.07126767053178228, 0.03535527981508608, -0.036363187901002916], "std": [0.0001031509962407619, 0.0001299427387813662, 0.00037722127449178007, 0.0, 0.0, 0.00012862139108239326, 0.00012862648277360173, 0.09390885513507724, 0.1027466993389086, 0.08146393753887554, 0.3344925003616773, 0.19406136338406046, 0.061066945428228055, 0.025768526865590984, 0.005769569746953611, 0.006152335127854296], "count": [334]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9, -0.7142857142857143, -0.11714285714285716, -0.11714285714285716, -0.3142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 0.9071428571428573, 0.06857142857142857, 0.19428571428571428, 0.2885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.054041916167664676, -0.004127459366980315, -0.02260479041916174, -0.0028229255774165954, 0.009315654405474766, -0.0015141146278870997, -0.46107784431137727], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35821397354079004, 0.3436909495230418, 0.31477185142883823, 0.01550640325791342, 0.042719579143738036, 0.10556496524325351, 0.8873596911541394], "count": [334]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04790419340133667], "std": [0.21356353163719177], "count": [334]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029940119760479044], "std": [0.05463559158950497], "count": [334]}, "timestamp": {"min": [0.0], "max": [16.65], "mean": [8.325000000000001], "std": [4.820853140264698], "count": [334]}, "frame_index": {"min": [0], "max": [333], "mean": [166.5], "std": [96.41706280529397], "count": [334]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [334]}, "index": {"min": [3515], "max": [3848], "mean": [3681.5], "std": [96.41706280529397], "count": [334]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [334]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.34475620344573377]], [[0.26208776316923255]], [[0.22863913143382353]]], "std": [[[0.19809564227981732]], [[0.14305493522557358]], [[0.14484630197929133]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.599515043370864]], [[0.5227246069814644]], [[0.5026963782216988]]], "std": [[[0.2689181634473193]], [[0.3180696590106241]], [[0.2991689003807059]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5356946177763097]], [[0.4365314905503217]], [[0.4190000023935355]]], "std": [[[0.2747476431864722]], [[0.3141711216533464]], [[0.2935167531143648]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [332]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [332]}, "observation.state": {"min": [0.8032588168352311, -1.286305114256749, 0.6999994686490568, 0.0, 0.0, -1.0, 6.439987743078746e-08, 0.25937631316625376, -0.41495919405694215, 0.2286053272598062, -0.996956467628479, -0.25242671370506287, -0.1698027402162552, 5.097626490169205e-05, 0.010704131381585748, -0.04060192564087244], "max": [0.8036811726442401, -1.2851707978256657, 0.7011658520076094, 0.0, 0.0, 1.0, 0.0008116828394122422, 0.5033410609651489, 0.032462209200730285, 0.6057203238963829, 0.9980518817901611, 0.19280898571014404, 0.051780957728624344, 0.04680653661489487, 0.04000160145555541, -0.01901156324598832], "mean": [0.803400783540608, -1.2855439647053133, 0.7003446104903805, 0.0, 0.0, -0.0963854893862483, 0.0002629843955244341, 0.4030430921651555, -0.18218587777637524, 0.3149482941584772, -0.9331791293190186, -0.09359872556594481, -0.11315942730709731, 0.019762599767573302, 0.033157226463360674, -0.03479270296399292], "std": [0.00017427394162181951, 0.00039165267152376583, 0.0004865467870747488, 0.0, 0.0, 0.995344026892678, 0.00027617348330918537, 0.06911976343037364, 0.11957885578388713, 0.08258468818348792, 0.30216647259803003, 0.11658047922649417, 0.04730352690671077, 0.009336247289168896, 0.009451893068321846, 0.007387334203931186], "count": [332]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6285714285714287, -0.7928571428571428, -0.6571428571428571, -0.10571428571428572, -0.028571428571428574, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.9214285714285714, 0.4785714285714286, 0.04, 0.08285714285714285, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003033562822719407, -0.02299913941480201, -0.06635111876075722, -0.006058519793459556, 0.0054216867469879535, 0.0017469879518072278, -0.4397590361445783], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19547339247237866, 0.3834287461738151, 0.21580579643711317, 0.017943975267799468, 0.014347986541126312, 0.05132780252623061, 0.8981157999552118], "count": [332]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048192769289016724], "std": [0.21417337656021118], "count": [332]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030120481927710845], "std": [0.05479941385138629], "count": [332]}, "timestamp": {"min": [0.0], "max": [16.55], "mean": [8.275], "std": [4.791985496639154], "count": [332]}, "frame_index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [332]}, "index": {"min": [3849], "max": [4180], "mean": [4014.5], "std": [95.83970993278308], "count": [332]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [332]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7020282987706801]], [[0.6393117783490349]], [[0.5890565251369102]]], "std": [[[0.2168454524210789]], [[0.27639993497818216]], [[0.323301435700608]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6024888443292356]], [[0.5917216916551777]], [[0.5785891047459023]]], "std": [[[0.21828836906584095]], [[0.22093717389280554]], [[0.2269531547091599]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07450980392156863]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5765364092658548]], [[0.5671757884306066]], [[0.5557137654622395]]], "std": [[[0.20029590986030496]], [[0.20280796156668993]], [[0.2090902978820666]]], "count": [100]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [377]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [377]}, "observation.state": {"min": [2.301682238554999, -0.8218429881449076, 0.6999981835463621, 0.0, 0.0, 0.7050337195396423, 0.7071067094802856, 0.1346365693684778, -0.1231318081819377, 0.22965250439350637, -0.9890193343162537, -0.19999104738235474, -0.33021581172943115, 9.620423952583224e-05, 0.009685117396702038, -0.039950296873947695], "max": [2.3041681018115363, -0.8211646004457958, 0.7014541462838242, 0.0, 0.0, 0.7071068286895752, 0.7091736793518066, 0.5408106296201411, 0.3299186274003785, 0.6048328349873082, 0.9713631272315979, 0.08381840586662292, 0.30684369802474976, 0.06619657576084137, 0.04000219996336932, -0.001148759921520247], "mean": [2.303470439339305, -0.8216444657441978, 0.7009672239640701, 0.0, 0.0, 0.7056186208674383, 0.7085910369926169, 0.40780692928714335, 0.09298650813597711, 0.3268971930589892, -0.759775879370439, -0.07215564992446798, -0.15065200164400297, 0.03259597320251805, 0.03322889623881999, -0.03221109989159004], "std": [0.0009116848184461315, 0.00021981947678806942, 0.00048592766841588485, 0.0, 0.0, 0.0007447161545299889, 0.0007424978804095212, 0.09033683628875382, 0.11193538234860204, 0.09482285351320285, 0.6020869943179149, 0.09201283569774779, 0.14952079884573588, 0.021073007395321128, 0.010513924967035987, 0.011833700820884079], "count": [377]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9357142857142857, -0.7000000000000001, -0.03428571428571429, -0.10285714285714286, -0.08, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 0.9857142857142858, 1.0, 0.09714285714285714, 0.09714285714285714, 0.2485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009435392194012869, 0.010932171276998871, 0.003808260704812476, 0.0019477074649488447, 0.00023493747631678653, -0.003145130731337628, -0.5172413793103449], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.280100245290735, 0.3463175402489138, 0.35946381791698945, 0.013577602722757235, 0.01673148645697267, 0.04429449478681645, 0.8558395617924737], "count": [377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04244031757116318], "std": [0.20159152150154114], "count": [377]}, "next.done": {"min": [false], "max": [true], "mean": [0.002652519893899204], "std": [0.05143426904420508], "count": [377]}, "timestamp": {"min": [0.0], "max": [18.8], "mean": [9.4], "std": [5.441507144165116], "count": [377]}, "frame_index": {"min": [0], "max": [376], "mean": [188.0], "std": [108.83014288330233], "count": [377]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [377]}, "index": {"min": [4181], "max": [4557], "mean": [4369.0], "std": [108.83014288330233], "count": [377]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [377]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.07058823529411765]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6386983116000307]], [[0.5931879434024586]], [[0.5382106143727022]]], "std": [[[0.16813266850581424]], [[0.13635422522744836]], [[0.1737370190395418]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5162067488128064]], [[0.5142290015127144]], [[0.5064948401357613]]], "std": [[[0.20376329169202798]], [[0.19531964020881248]], [[0.18523080523463126]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5406013602462469]], [[0.5384152760225184]], [[0.5316785529641544]]], "std": [[[0.20134708652387753]], [[0.19456689079863582]], [[0.18662389398892426]]], "count": [100]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [369]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [369]}, "observation.state": {"min": [0.8112385562677873, -1.739554667783432, 0.6999997429965936, 0.0, 0.0, -1.0, 1.0032201913645622e-07, 0.07833572649486309, -0.2784539867420912, 0.22786343576924306, -0.9999434947967529, -0.12232273817062378, -0.09970606863498688, 4.613757482729852e-05, 0.0046522373616769445, -0.04005217186284707], "max": [0.8122440226940593, -1.7387401160013989, 0.7020791157504185, 0.0, 0.0, 1.0, 0.0006589803961105645, 0.46410071108624906, 0.050196671406699256, 0.568953872503784, 0.9999362230300903, 0.24606779217720032, 0.24087435007095337, 0.0630335807800293, 0.03991735897075819, -0.011181984900365942], "mean": [0.8115448087739661, -1.7389860907898291, 0.700620865410991, 0.0, 0.0, -0.09485091458814254, 0.00021846702975552426, 0.36020966267078824, -0.08244332377324551, 0.29529830391437356, 0.8479960604411799, 0.07401745099584423, 0.039193090015604615, 0.009578765168196716, 0.03143873565166562, -0.03168441258064152], "std": [0.0003948267848526304, 0.0002770312046567571, 0.0008221855824553476, 0.0, 0.0, 0.9954914545886916, 0.00023627967688197413, 0.07357356598589851, 0.10930506430021283, 0.08241175006518478, 0.5074238212210064, 0.11618601927132649, 0.05224926970229342, 0.009388228922731789, 0.011026705227333563, 0.010176941164568316], "count": [369]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8785714285714286, -0.8357142857142857, -0.09714285714285714, -0.23714285714285716, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7642857142857143, 1.0, 0.9571428571428572, 0.028571428571428574, 0.13428571428571429, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.035172280294231514, -0.0002710027100271058, -0.019415408439798672, -0.0051335656213705, -0.0053426248548199785, -0.007433217189314753, -0.25745257452574527], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27772260051643827, 0.3638049686313509, 0.307609709288507, 0.018088363568268616, 0.041689277050263596, 0.05721142595752875, 0.966290935417517], "count": [369]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04336043447256088], "std": [0.20366714894771576], "count": [369]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027100271002710027], "std": [0.051987333586045736], "count": [369]}, "timestamp": {"min": [0.0], "max": [18.4], "mean": [9.200000000000001], "std": [5.32603667530244], "count": [369]}, "frame_index": {"min": [0], "max": [368], "mean": [184.0], "std": [106.5207335060488], "count": [369]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [369]}, "index": {"min": [4558], "max": [4926], "mean": [4742.0], "std": [106.5207335060488], "count": [369]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [369]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[1.0]], [[1.0]]], "mean": [[[0.6621482400333181]], [[0.6077167172899434]], [[0.5546261566760493]]], "std": [[[0.21882901215507325]], [[0.27426777256091556]], [[0.3270619661770631]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5547368223900888]], [[0.5326349870270374]], [[0.5142523163440181]]], "std": [[[0.24613796736574944]], [[0.24634122254838084]], [[0.24703407503894756]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4946916773178998]], [[0.4763978427064185]], [[0.4613220675599341]]], "std": [[[0.25097083647016705]], [[0.2481544744586202]], [[0.24680493382250218]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [301]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [301]}, "observation.state": {"min": [2.4732883601350437, -0.7664961420977553, 0.6999993439330794, 0.0, 0.0, 0.7055286169052124, 0.7071065306663513, 0.1987765687588524, -0.02448955119346996, 0.22843732808157025, -0.9983840584754944, -0.029998082667589188, -0.14610397815704346, 9.832460636971518e-05, 0.020535849591996745, -0.040055015563921784], "max": [2.4758530363072575, -0.7655307674474754, 0.7019539098219724, 0.0, 0.0, 0.7071070075035095, 0.7086814641952515, 0.40181900755204697, 0.25389070904145505, 0.5957860890068284, 0.9993590712547302, 0.02763594686985016, 0.13180506229400635, 0.03942957520484924, 0.04113653109845136, -0.007218626098804315], "mean": [2.474496254635675, -0.7660107240284139, 0.700946882906219, 0.0, 0.0, 0.7064277616846205, 0.7077846723141464, 0.3023525581423038, 0.07692934749721661, 0.3117093200332716, -0.035571373380299816, 0.0054314876488870956, -0.013766553500463003, 0.019999964613405766, 0.036718339908096774, -0.03238083330603819], "std": [0.0009799571598952507, 0.00038843086985333833, 0.0007726783950326202, 0.0, 0.0, 0.0005703940720105979, 0.0005692289096937717, 0.050963828200405244, 0.09347812237203053, 0.08625320626966322, 0.9949844522026182, 0.016909919768047222, 0.08765154771001768, 0.012363294511648982, 0.004695114265861242, 0.010500845497772164], "count": [301]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9, -1.0, -0.7714285714285714, -0.04857142857142857, -0.08, -0.04, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 1.0, 0.807142857142857, 0.06, 0.037142857142857144, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02033697199810156, 0.0010915994304698158, -0.06499762695775979, 0.0024299952539155196, -0.004556241101091599, -0.000778357854769815, -0.45514950166112955], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18648346158880538, 0.39359769053263166, 0.309701161562202, 0.013685811709154424, 0.015684314945337546, 0.004430128573459741, 0.8904150330815552], "count": [301]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05315614491701126], "std": [0.22434476017951965], "count": [301]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033222591362126247], "std": [0.05754321619830157], "count": [301]}, "timestamp": {"min": [0.0], "max": [15.0], "mean": [7.5], "std": [4.344536799245692], "count": [301]}, "frame_index": {"min": [0], "max": [300], "mean": [150.0], "std": [86.89073598491383], "count": [301]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [301]}, "index": {"min": [4927], "max": [5227], "mean": [5077.0], "std": [86.89073598491383], "count": [301]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [301]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6434047480564491]], [[0.5586905379949831]], [[0.4768354713589537]]], "std": [[[0.21433542302889477]], [[0.2708232622698965]], [[0.3346309600096622]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5450324952368643]], [[0.4832754941454121]], [[0.4562657297171798]]], "std": [[[0.2151466301586287]], [[0.2332486362573067]], [[0.24928163987114757]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5667568054199218]], [[0.5118222482718674]], [[0.4878063510071997]]], "std": [[[0.23311251236075956]], [[0.25332216742445907]], [[0.2673387838250183]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [346]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [346]}, "observation.state": {"min": [1.8712868242065124, -0.7565089674376886, 0.6999993638186724, 0.0, 0.0, 0.7066718339920044, 0.7071066498756409, 0.018234118170341707, -0.035012247200085334, 0.23589217719671585, -0.999506950378418, -0.032322049140930176, -0.1302768737077713, 0.00047972926404327154, 0.014979271368670036, -0.03991702012913263], "max": [1.8722807142216467, -0.7558246624752679, 0.701261374103853, 0.0, 0.0, 0.7071068286895752, 0.7075414657592773, 0.36057877538227545, 0.28884561202521475, 0.6016213759855871, 0.9959825277328491, 0.021570876240730286, 0.11268948763608932, 0.03220865875482559, 0.04054135420294517, -0.014620474039736228], "mean": [1.8717867339510856, -0.7561617281817312, 0.7006476616172856, 0.0, 0.0, 0.7068715376316468, 0.7073419121648535, 0.29526635310312144, 0.11515567777972095, 0.302288898554078, -0.8246471606238039, -0.019648148877427756, -0.03500951570826714, 0.0165557015548942, 0.034604248188443376, -0.03231818612414673], "std": [0.0003402324587076565, 0.00024703263616869005, 0.0004668620191397888, 0.0, 0.0, 0.00013896202514092793, 0.00013890410624318856, 0.05704785458603469, 0.11345142634063408, 0.09300565499250919, 0.5606131383027662, 0.013991426391828378, 0.059129071219973524, 0.00959994759245308, 0.008845230971542207, 0.009841875771517402], "count": [346]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9357142857142857, -0.025714285714285714, -0.26, -0.03428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 1.0, 0.9214285714285714, 0.04285714285714286, 0.15142857142857147, 0.04, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04339388934764656, -0.009744013212221342, -0.004830718414533426, 0.00036333608587943856, 0.00208918249380677, -0.0010982658959537571, -0.3930635838150289], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24906633671643566, 0.4040343974550251, 0.35996116440824943, 0.004700301116247858, 0.043624293548636756, 0.007058754621830606, 0.9195112936111663], "count": [346]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04624277353286743], "std": [0.21001042425632477], "count": [346]}, "next.done": {"min": [false], "max": [true], "mean": [0.002890173410404624], "std": [0.05368258850001939], "count": [346]}, "timestamp": {"min": [0.0], "max": [17.25], "mean": [8.625], "std": [4.994058970416749], "count": [346]}, "frame_index": {"min": [0], "max": [345], "mean": [172.5], "std": [99.88117940833499], "count": [346]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [346]}, "index": {"min": [5228], "max": [5573], "mean": [5400.5], "std": [99.88117940833499], "count": [346]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [346]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7543490361232383]], [[0.7222301444259345]], [[0.6820755842620252]]], "std": [[[0.1957628439707639]], [[0.21097689715282447]], [[0.24889715703405893]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394832769655714]], [[0.5243665699678309]], [[0.5157623249128753]]], "std": [[[0.23469970380942806]], [[0.23958130333805774]], [[0.24503442841877238]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.08627450980392157]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5336628070906098]], [[0.5235812120624617]], [[0.5210271696202895]]], "std": [[[0.23350655039367957]], [[0.24216893462602904]], [[0.2536730023127176]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [309]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [309]}, "observation.state": {"min": [2.224376913432215, -0.7779952348019292, 0.6999993990548677, 0.0, 0.0, 0.7070580720901489, 0.7062332034111023, 0.053296818921947486, -0.05269399078075132, 0.2354663421339448, -0.9960439801216125, -0.3153853714466095, -0.12665660679340363, 0.0005099788540974259, 0.011204323049553098, -0.04047803039597583], "max": [2.2251141234389404, -0.777120567689106, 0.7019953671913063, 0.0, 0.0, 0.7079792618751526, 0.7071554660797119, 0.4424280581121079, 0.3577248307291161, 0.5886426293500265, 0.9806159138679504, 0.5445083379745483, 0.2366366684436798, 0.10018672049045563, 0.04050974018047138, -0.01053161143987215], "mean": [2.224772877449736, -0.7775789182907844, 0.7009943525602185, 0.0, 0.0, 0.70747490183821, 0.7067384017709776, 0.3518228467510747, 0.1610744734151566, 0.3163761632684534, 0.20043649989810192, 0.15821864858607257, 0.028324537894085372, 0.02821524888951434, 0.03416626409921753, -0.03370209212962564], "std": [0.0001793439070074998, 0.00026894868562638073, 0.0006878661578366337, 0.0, 0.0, 0.00022703585807638008, 0.0002273054612171762, 0.07693721072908823, 0.1077830728926385, 0.07905028281168024, 0.9121851485279906, 0.3039025876302685, 0.09033811539341297, 0.024376013646201098, 0.009788096882807363, 0.010031922841335554], "count": [309]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.09142857142857143, -0.18, -0.23428571428571432, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7428571428571429, 0.8714285714285716, 0.7142857142857143, 0.16, 0.24, 0.3657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05386037910309755, 0.009778085991678207, -0.0477346278317152, 0.00013869625520110938, 0.000924641701340727, 0.018529819694868235, -0.6051779935275081], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.34126971670380324, 0.42005758600576293, 0.31098721920287586, 0.035812909354668236, 0.052216099401117766, 0.10924278216801891, 0.7960901934768572], "count": [309]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.051779936999082565], "std": [0.22158242762088776], "count": [309]}, "next.done": {"min": [false], "max": [true], "mean": [0.003236245954692557], "std": [0.05679588600253801], "count": [309]}, "timestamp": {"min": [0.0], "max": [15.4], "mean": [7.7], "std": [4.460007473835293], "count": [309]}, "frame_index": {"min": [0], "max": [308], "mean": [154.0], "std": [89.20014947670585], "count": [309]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [309]}, "index": {"min": [5574], "max": [5882], "mean": [5728.0], "std": [89.20014947670585], "count": [309]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [309]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09803921568627451]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.596519427131204]], [[0.4824190350700827]], [[0.40364088350183824]]], "std": [[[0.2003973811422782]], [[0.2090803744610279]], [[0.20385760636633396]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4546010323318781]], [[0.4191121042288986]], [[0.38201756017348343]]], "std": [[[0.22407199699026886]], [[0.22944573828489093]], [[0.2336533888703283]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4904591285855162]], [[0.4429248758951823]], [[0.39677266797832417]]], "std": [[[0.23229632733320785]], [[0.2364853405957278]], [[0.23742455999156484]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [1.5580642278336396, -1.7536271244638557, 0.6999976906870585, 0.0, 0.0, -0.7076096534729004, 0.7066035270690918, 0.16054560776075721, -0.2966251556888837, 0.22956647486021187, -0.9993606805801392, -0.5244852900505066, -0.1698586493730545, 8.501541742589325e-05, 0.02001872381542738, -0.04097753841901429], "max": [1.558775054191619, -1.7532002030311484, 0.7009553461329141, 0.0, 0.0, -0.7064547538757324, 0.7077581286430359, 0.5953514210349717, 0.030147747304124284, 0.6027233358836751, 0.9934234023094177, 0.5294333100318909, 0.12162933498620987, 0.08374086767435074, 0.04061217981609078, -0.02051952594066293], "mean": [1.5583955356043466, -1.7534905592808978, 0.7003728435460782, 0.0, 0.0, -0.7070796644850953, 0.7071336354703119, 0.4347490239617233, -0.09968236340696418, 0.33401749937836483, -0.19760091174138736, 0.22841715008938965, -0.014185015782073008, 0.02434049977265914, 0.03812935370323953, -0.03870782657306918], "std": [0.00022015593220788178, 0.00012146614241079113, 0.0003060166122824651, 0.0, 0.0, 0.0004280139729919916, 0.0004279496021274805, 0.0866389478169114, 0.10012386570434012, 0.09054660178448933, 0.9152526372718792, 0.25794217690319765, 0.05853127129210777, 0.018394180486776778, 0.003974704429756719, 0.0025781195226188907], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6785714285714286, -0.13714285714285715, -0.08571428571428572, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7071428571428572, 0.13142857142857142, 0.11142857142857143, 0.6057142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.024437377690802342, -0.007020547945205486, -0.06477495107632097, -0.0003326810176125254, 0.0063502935420743645, 0.011614481409001957, -0.4863013698630137], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.44727477303675467, 0.4051895746616841, 0.340878338017391, 0.04365981574226263, 0.030681628668745443, 0.17344490679141417, 0.8737911522036325], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [292]}, "index": {"min": [5883], "max": [6174], "mean": [6028.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [292]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5430244110705805]], [[0.45131440704944087]], [[0.3912521619609758]]], "std": [[[0.2509894457733766]], [[0.2787984855907712]], [[0.28569189890162916]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5060026430616191]], [[0.44624549117742796]], [[0.4113825713512944]]], "std": [[[0.226328155024927]], [[0.22533910812406274]], [[0.22898468986062095]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5349076915067785]], [[0.4846983594707414]], [[0.4469788680731081]]], "std": [[[0.23519353792464165]], [[0.23522363673873797]], [[0.23750388392150834]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [290]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [290]}, "observation.state": {"min": [1.9163568375611193, -0.8232724309289434, 0.6999991441285996, 0.0, 0.0, 0.706906795501709, 0.7070951461791992, 0.06149663604579936, -0.09513752868213876, 0.24224025347954392, -0.9979974031448364, -0.16548705101013184, -0.1567232608795166, 0.019021471962332726, 0.0072916811157408895, -0.03985822871742119], "max": [1.9166015657458109, -0.8229731739185068, 0.7005164047015588, 0.0, 0.0, 0.7071183323860168, 0.7073066830635071, 0.46888671967012974, 0.1940080782064897, 0.6012336695645429, -0.9807235598564148, 0.009841084480285645, -0.03106764331459999, 0.05250569432973862, 0.040004955135317516, -0.008214482549034334], "mean": [1.9164849851798726, -0.823177247995367, 0.7003044467216816, 0.0, 0.0, 0.707015747654027, 0.7071978003814303, 0.32813009813638716, 0.05861180348256938, 0.3284353751404195, -0.9914455469312339, -0.08104892822689024, -0.06738683618605137, 0.04212099005436075, 0.031907879061698716, -0.03117210501179813], "std": [6.571444804154206e-05, 0.00010957405349957085, 0.00018206210972246221, 0.0, 0.0, 4.487975118475034e-05, 4.488619464813066e-05, 0.08656795192488621, 0.08513502555726041, 0.09795709108312316, 0.005216589330830789, 0.05702521865248465, 0.028563697969985175, 0.007527565144537108, 0.011332790130570999, 0.011413044071629982], "count": [290]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9142857142857143, -0.9142857142857143, -0.6428571428571428, -0.025714285714285714, -0.07714285714285714, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 1.0, 0.807142857142857, 0.005714285714285714, 0.1, 0.1142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03704433497536947, -0.01256157635467979, -0.009975369458128004, -0.0005615763546798032, 0.007152709359605907, -2.9556650246303433e-05, -0.3931034482758621], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32269971553875604, 0.38557904567794876, 0.3066077927761855, 0.002816441882254853, 0.023225175347645958, 0.03424092680840563, 0.919494251724083], "count": [290]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05517241358757019], "std": [0.22831648588180542], "count": [290]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034482758620689655], "std": [0.05862068965517241], "count": [290]}, "timestamp": {"min": [0.0], "max": [14.45], "mean": [7.225], "std": [4.185764565763344], "count": [290]}, "frame_index": {"min": [0], "max": [289], "mean": [144.5], "std": [83.7152913152669], "count": [290]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [290]}, "index": {"min": [6175], "max": [6464], "mean": [6319.5], "std": [83.7152913152669], "count": [290]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [290]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6256912925570619]], [[0.5736704251158471]], [[0.5506301951688878]]], "std": [[[0.2344099343831783]], [[0.26075844205118603]], [[0.29299139362108556]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.06274509803921569]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6772672950894225]], [[0.6747152398801317]], [[0.6764988732431448]]], "std": [[[0.2465617186501064]], [[0.24849901248990766]], [[0.24648601901613879]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.058823529411764705]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6192817789713542]], [[0.6144989420572916]], [[0.6145735653147978]]], "std": [[[0.2623568034918779]], [[0.2657760882434489]], [[0.2654781848327719]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [336]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [336]}, "observation.state": {"min": [2.2824233297447165, -2.613903662350525, 0.6999992182858362, 0.0, 0.0, -0.000930005160626024, 0.9999996423721313, 0.0850870277798661, -0.25759595789520606, 0.2665841967934858, -0.9985571503639221, -0.4804622530937195, -0.19685018062591553, 0.015280069783329964, 0.02055122760560727, -0.04019648471343203], "max": [2.2827515553690554, -2.6134537258461545, 0.7004154591863805, 0.0, 0.0, 7.119038491509855e-05, 1.0, 0.44942695404025645, 0.0560287319987145, 0.5874268242794484, -0.8764824271202087, 0.045250557363033295, 0.020709792152047157, 0.08352591097354889, 0.040138013676210865, -0.020515331510591813], "mean": [2.2825620456578153, -2.6136403652023015, 0.7002441299474447, 0.0, 0.0, -0.0003564172038578966, 0.9999999169792447, 0.34006587370225805, -0.110680015314032, 0.340099760071046, -0.9646289710487638, -0.1496628303901248, -0.09844559279783771, 0.029530250234529376, 0.034941843798798576, -0.0353932335139275], "std": [0.00013301128656815922, 0.00012629112630471558, 0.00017178065793302855, 0.0, 0.0, 0.0003140049602341985, 1.2045092235409332e-07, 0.07613061643750596, 0.09413642397795156, 0.07674549184814798, 0.03989269840355488, 0.1720999592293808, 0.07191767579605322, 0.01210125421223703, 0.007048293168571302, 0.00666531600559316], "count": [336]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9285714285714287, -0.9857142857142858, -0.5785714285714286, -0.2057142857142857, -0.10857142857142858, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7214285714285715, 1.0, 0.7642857142857143, 0.022857142857142857, 0.1657142857142857, 0.34285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.030994897959183636, -0.0037202380952380716, -0.014115646258503417, -0.009030612244897962, 0.0018962585034013608, -0.002670068027210883, -0.48214285714285715], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24760984540700792, 0.4022987756285695, 0.26434655530266365, 0.029692021939822656, 0.030793284351018416, 0.10510217153196194, 0.8760926122882904], "count": [336]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0476190485060215], "std": [0.21295885741710663], "count": [336]}, "next.done": {"min": [false], "max": [true], "mean": [0.002976190476190476], "std": [0.05447322981465216], "count": [336]}, "timestamp": {"min": [0.0], "max": [16.75], "mean": [8.375000000000002], "std": [4.849720782340635], "count": [336]}, "frame_index": {"min": [0], "max": [335], "mean": [167.5], "std": [96.99441564681271], "count": [336]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [336]}, "index": {"min": [6465], "max": [6800], "mean": [6632.5], "std": [96.99441564681271], "count": [336]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [336]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9411764705882353]], [[0.9607843137254902]]], "mean": [[[0.6035352059158625]], [[0.46460436951880363]], [[0.36326778097713697]]], "std": [[[0.19287036024439538]], [[0.17378325406121845]], [[0.19489116120609976]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.09019607843137255]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6916356512331495]], [[0.5856679310518152]], [[0.4879532985313266]]], "std": [[[0.16035597433143312]], [[0.16356908827011335]], [[0.22651829764710385]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.10196078431372549]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.663336254643459]], [[0.5919480375402114]], [[0.5261666822246477]]], "std": [[[0.16451746483825522]], [[0.17665284982474003]], [[0.231148886056535]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [238]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [238]}, "observation.state": {"min": [2.56301709484663, -0.7586139455500529, 0.7000000179248473, 0.0, 0.0, 0.704922080039978, 0.707101047039032, 0.04570112696881101, -0.060415235932426814, 0.23606826583397345, -0.9969848990440369, -0.16562579572200775, -0.2806006669998169, 0.0005965379532426596, 0.006840804265560814, -0.039896146651654515], "max": [2.566594999883734, -0.7572417106963467, 0.7027908024992067, 0.0, 0.0, 0.7071124911308289, 0.7092848420143127, 0.3261387646018162, 0.4048762437419757, 0.5781389029647301, 0.9760695695877075, 0.1418207436800003, 0.25196030735969543, 0.0738135427236557, 0.0409865566724814, 0.0006113330670014052], "mean": [2.564224006918186, -0.7576999528325711, 0.701062703580034, 0.0, 0.0, 0.7063666734875751, 0.7078449317888051, 0.2670105357357044, 0.13646305551986104, 0.3161967274994693, -0.8364871429795978, -0.11138325046841838, -0.0402146296486642, 0.04152245761654457, 0.03162445928421026, -0.028846523230084995], "std": [0.0015471177762050206, 0.000595118291080837, 0.001162656074615846, 0.0, 0.0, 0.0009143205205998515, 0.0009114998018843472, 0.0487985090848224, 0.13413608051116038, 0.0876789270129844, 0.5161006843380688, 0.07894032791525443, 0.10790418535953064, 0.017518314164742425, 0.011887559851089621, 0.013834115594736518], "count": [238]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.05142857142857143, -0.17142857142857143, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 1.0, 1.0, 0.037142857142857144, 0.1742857142857143, 0.2, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0667767106842737, 0.030702280912364984, -0.008253301320528282, -0.00032412965186074413, -0.0045618247298919576, 0.006086434573829536, -0.36134453781512604], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27990188283754464, 0.50452799225436, 0.40763413839635027, 0.007347458572891746, 0.05415897168577132, 0.04636946544699749, 0.9324323701969883], "count": [238]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06722689419984818], "std": [0.25041452050209045], "count": [238]}, "next.done": {"min": [false], "max": [true], "mean": [0.004201680672268907], "std": [0.06468405175773384], "count": [238]}, "timestamp": {"min": [0.0], "max": [11.85], "mean": [5.925], "std": [3.435203778526101], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [238]}, "index": {"min": [6801], "max": [7038], "mean": [6919.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [238]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7040649862850413]], [[0.6577029365090763]], [[0.6207902820063572]]], "std": [[[0.23580255300849126]], [[0.2710915841113781]], [[0.30430531263017685]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5694611924115349]], [[0.5554330360562194]], [[0.5408262382956112]]], "std": [[[0.19696396960887097]], [[0.19893936410947588]], [[0.20696560233114694]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5947505924000459]], [[0.5746483351763557]], [[0.5552261280732996]]], "std": [[[0.19726366266981302]], [[0.20009964427264226]], [[0.210254909578762]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [296]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [296]}, "observation.state": {"min": [4.181196835660815, -0.8332101837987247, 0.6999986203321544, 0.0, 0.0, 0.7067654728889465, 0.7058277726173401, 0.17983648773221395, -0.06618861871532733, 0.2408797133056244, -0.9975093603134155, -0.49644437432289124, -0.18302686512470245, 2.071246490231715e-05, 0.02057448643408972, -0.041033570963045246], "max": [4.182994159231664, -0.83159526103956, 0.7043325798272089, 0.0, 0.0, 0.7083834409713745, 0.70744788646698, 0.5803613200183056, 0.17349835791239343, 0.6027419174549792, 0.9809128642082214, 0.49665674567222595, 0.19150760769844055, 0.06422509998083115, 0.039946320788853275, -0.020492074310640596], "mean": [4.182295679509497, -0.8321910311531351, 0.7017398702775769, 0.0, 0.0, 0.7074137315959543, 0.70679914165993, 0.44844014547552213, 0.0524081746936941, 0.3411427375092193, -0.024863021397912823, 0.07567513336402339, 0.036728100560139865, 0.019978032458053546, 0.03661475524821365, -0.03871008524275447], "std": [0.0007080051628784537, 0.0006651417061708337, 0.001812856274710399, 0.0, 0.0, 0.000630578705206346, 0.0006314592697887972, 0.1090533138991733, 0.083735510840686, 0.09952455041047026, 0.9390364196458989, 0.31863583359020314, 0.09113372199166919, 0.01683692815058282, 0.005516376565562841, 0.0024328201832478883], "count": [296]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.08571428571428572, -0.40857142857142864, -0.1742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5928571428571429, 1.0, 0.9, 0.11714285714285716, 0.2057142857142857, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.041023166023166004, -0.004222972972973005, -0.09910714285714292, -0.0026640926640926674, -0.003803088803088806, 0.022586872586872583, -0.5202702702702703], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.41915419393583875, 0.3831675219756403, 0.4049891333329333, 0.025710343245955284, 0.08362801339063332, 0.04710287041471974, 0.8540016662003069], "count": [296]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054054055362939835], "std": [0.2261243313550949], "count": [296]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033783783783783786], "std": [0.05802555418012725], "count": [296]}, "timestamp": {"min": [0.0], "max": [14.75], "mean": [7.375], "std": [4.272367610587834], "count": [296]}, "frame_index": {"min": [0], "max": [295], "mean": [147.5], "std": [85.44735221175668], "count": [296]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [296]}, "index": {"min": [7039], "max": [7334], "mean": [7186.5], "std": [85.44735221175668], "count": [296]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [296]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025510774500229]], [[0.36239801504097735]], [[0.28243998030120254]]], "std": [[[0.1150600850982112]], [[0.11607174075681184]], [[0.1303204541472749]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6459646959491804]], [[0.5539088858810126]], [[0.49295722871668196]]], "std": [[[0.18099093260545365]], [[0.21649682703563594]], [[0.2285062284823781]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6183519717945771]], [[0.5464698701746323]], [[0.49643264291800704]]], "std": [[[0.21397122350642708]], [[0.23307523132233487]], [[0.24184419862457432]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [4.851520510319428, -1.5162878149471701, 0.69999889678677, 0.0, 0.0, -7.154984632506967e-05, 0.9999998807907104, 0.09073137739250114, -0.19656423004308055, 0.24359648073039153, -0.9968032240867615, -0.26999083161354065, -0.1577107161283493, 0.004230679012835026, 0.011205762154072854, -0.04062990128440797], "max": [4.851600237168792, -1.515781345278618, 0.7004616785812103, 0.0, 0.0, 0.0005240846076048911, 1.0, 0.47277200590256463, 0.09626399348328696, 0.5869236772023158, -0.946809709072113, 0.034698694944381714, 0.07914458215236664, 0.19761346280574799, 0.04002246224580334, -0.010434184117248542], "mean": [4.85156609478526, -1.5160585828415614, 0.7002103436352951, 0.0, 0.0, 0.00021423482016435892, 0.9999999814774411, 0.3390989324689166, -0.05581487162034893, 0.3231978708432685, -0.9751478834931119, -0.11539307017012897, -0.052648928896728085, 0.11603829287460067, 0.031418107836672836, -0.03141743800611412], "std": [1.837591687463263e-05, 0.00015703799117831285, 0.00019808779497488638, 0.0, 0.0, 0.00017675849186958464, 4.318536675468123e-08, 0.08544499137757111, 0.10184254053497081, 0.08302713979081866, 0.014330572935701506, 0.09728805096347728, 0.08798182371170289, 0.046077313006255005, 0.010860779382459324, 0.011145031912254617], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2, -0.13428571428571429, -0.20857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5357142857142857, 1.0, 1.0, 0.12285714285714287, 0.21714285714285717, 0.27714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03821855435401253, -0.0017359134889015449, -0.019151963574274296, -0.005315879339783722, 0.012054638588503131, -0.001673306772908391, -0.3386454183266932], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.33450846896344594, 0.4793572272840584, 0.38792723549950225, 0.04056681077150163, 0.045347471201725234, 0.07683953698447452, 0.9409140665578005], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06374502182006836], "std": [0.24429816007614136], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [251]}, "index": {"min": [7335], "max": [7585], "mean": [7460.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [251]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41458179728190103]], [[0.3330696824017693]], [[0.30722780773686426]]], "std": [[[0.2693374089058405]], [[0.1971510064032304]], [[0.16195123754528928]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4782426823634727]], [[0.4221957152123545]], [[0.4070431889552696]]], "std": [[[0.2702335884632356]], [[0.2715503055627629]], [[0.27557675967706136]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4739596276376762]], [[0.4173078445733762]], [[0.4025969178442862]]], "std": [[[0.2676738559733849]], [[0.2697560438472412]], [[0.274790951051721]]], "count": [100]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [263]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [263]}, "observation.state": {"min": [3.544231783879887, -2.263737561980717, 0.6999983255742946, 0.0, 0.0, -0.7079488635063171, 0.7062636017799377, 0.08688786978839902, -0.02232818942568615, 0.22952078619741678, -0.9993852376937866, -0.06730049103498459, -0.13704685866832733, 1.9243447241024114e-05, 0.02053640319172739, -0.040229628070055035], "max": [3.545325418716466, -2.2630950710349227, 0.7013489426512072, 0.0, 0.0, -0.7071616053581238, 0.7070519328117371, 0.43362855689836755, 0.42612165168882044, 0.5875972724345853, 0.9976776242256165, 0.05689595639705658, 0.05392332375049591, 0.050075337290763855, 0.04064381299996897, -0.02053015744861839], "mean": [3.54474598884352, -2.2634868374267443, 0.7005372536251212, 0.0, 0.0, -0.7075464800283483, 0.7066667190976016, 0.3758257977289006, 0.17585227632183262, 0.33542955516765527, -0.9738285267307731, -0.038538081833504906, -0.02238368530959654, 0.021863627221154286, 0.03708340238741427, -0.037158439849133244], "std": [0.00041688996936472915, 0.0002241031333955741, 0.0004908295510729206, 0.0, 0.0, 0.0002776786375135933, 0.00027801256612848774, 0.062329413917566176, 0.13473658560532276, 0.0903952617431962, 0.2117862670259695, 0.027369118340316936, 0.05912603930739606, 0.009766735152682608, 0.005483900880511501, 0.004232448879887147], "count": [263]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6500000000000001, -0.14285714285714285, -0.28, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6214285714285714, 0.9071428571428573, 0.9, 0.04857142857142857, 0.1657142857142857, 0.07714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04809885931558935, 0.00035306898424766276, -0.02626290059750145, 6.518196632265088e-05, 0.00844106463878328, -0.0033134166214014112, -0.4828897338403042], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3495281016608573, 0.42774371396928407, 0.3240913689588138, 0.009831139082440177, 0.04704521432883978, 0.025696350058356087, 0.875681166265233], "count": [263]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06463878601789474], "std": [0.2458873987197876], "count": [263]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038022813688212928], "std": [0.06154530059406329], "count": [263]}, "timestamp": {"min": [0.0], "max": [13.1], "mean": [6.550000000000001], "std": [3.7960505792204615], "count": [263]}, "frame_index": {"min": [0], "max": [262], "mean": [131.0], "std": [75.92101158440923], "count": [263]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [263]}, "index": {"min": [7586], "max": [7848], "mean": [7717.0], "std": [75.92101158440923], "count": [263]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [263]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4382157933852252]], [[0.36010173782647825]], [[0.30357968319163603]]], "std": [[[0.18132196741729567]], [[0.1686802569264244]], [[0.16855176464714305]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.00392156862745098]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6077565026376761]], [[0.5676113652248008]], [[0.5204577768363204]]], "std": [[[0.259326100156106]], [[0.2800585896234007]], [[0.2894773797995641]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6120838018679152]], [[0.5711486164167816]], [[0.5215304457720589]]], "std": [[[0.2609316357508723]], [[0.2816653241844154]], [[0.29109682747291715]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [295]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [295]}, "observation.state": {"min": [3.3991251695888347, -0.8375671881586728, 0.6999990910216459, 0.0, 0.0, 0.7065394520759583, 0.7069672346115112, 0.07073699073421336, -0.20182146775234644, 0.24318512013046645, -0.9976782202720642, -0.22998249530792236, -0.18033650517463684, 0.00018071419617626816, 0.011732430660904958, -0.040638868172761466], "max": [3.399716225660878, -0.8368297516669331, 0.7010701827294791, 0.0, 0.0, 0.7072463631629944, 0.7076735496520996, 0.43763267681283013, 0.06822384746305632, 0.6037050066429429, 0.9957757592201233, 0.09139767289161682, 0.14314685761928558, 0.11332881450653076, 0.04010722461653888, -0.01434601990376729], "mean": [3.3993655732106163, -0.8371013359181163, 0.7003825363774605, 0.0, 0.0, 0.7069526601645906, 0.7072607814255407, 0.32849437839701956, -0.056235289852292585, 0.3232978375032144, -0.9031399223764064, -0.07872300392995446, -0.11050773183420554, 0.04705849103096841, 0.03313036459530091, -0.034118634811564505], "std": [0.0001839952275202903, 0.00031968247216190854, 0.00047247469559273897, 0.0, 0.0, 0.0002172677967244559, 0.00021715692922808557, 0.08224936222059279, 0.09132435705987255, 0.0950733370612367, 0.3905068095092153, 0.08107977603320195, 0.057273503018735114, 0.03694255383996732, 0.009251480895612474, 0.008512705666340669], "count": [295]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.95, -0.7357142857142858, -0.12857142857142856, -0.11714285714285716, -0.15714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7357142857142858, 1.0, 1.0, 0.15428571428571428, 0.2285714285714286, 0.21142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03351089588377724, 0.0005326876513317222, -0.008692493946731224, 0.0010750605326876527, 0.005878934624697339, -0.0035835351089588373, -0.4033898305084746], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32695225021615026, 0.36586359110857725, 0.3421815668716201, 0.02722911432364936, 0.03207308341486125, 0.05857052670501317, 0.9150282206808402], "count": [295]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05423728749155998], "std": [0.22648534178733826], "count": [295]}, "next.done": {"min": [false], "max": [true], "mean": [0.003389830508474576], "std": [0.058123485421973715], "count": [295]}, "timestamp": {"min": [0.0], "max": [14.7], "mean": [7.35], "std": [4.257933771208753], "count": [295]}, "frame_index": {"min": [0], "max": [294], "mean": [147.0], "std": [85.15867542417507], "count": [295]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [295]}, "index": {"min": [7849], "max": [8143], "mean": [7996.0], "std": [85.15867542417507], "count": [295]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [295]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5692173443962546]], [[0.5005442109949448]], [[0.45365267645144]]], "std": [[[0.1482826355866928]], [[0.20138197944340167]], [[0.25466757780112237]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6130919027889475]], [[0.600081906187768]], [[0.5762647328096278]]], "std": [[[0.18638979735426578]], [[0.17848918922600956]], [[0.17306142723583762]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.047058823529411764]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6512385810403263]], [[0.6345229408413756]], [[0.6082885616526884]]], "std": [[[0.16868753938680667]], [[0.16402413320856596]], [[0.1620008724349466]]], "count": [100]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [305]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [305]}, "observation.state": {"min": [2.553099611459969, -2.228171854618058, 0.6999964324763275, 0.0, 0.0, -0.7078041434288025, 0.706408679485321, 0.1336063079766454, -0.370798663941001, 0.22779513839071708, -0.9975917339324951, -0.032563336193561554, -0.14435645937919617, 0.0029931243043392897, 0.0015382949068708078, -0.039843868183685086], "max": [2.5534183284920093, -2.2270649388281987, 0.7019640155658953, 0.0, 0.0, -0.707019031047821, 0.7071945667266846, 0.5280769991572831, -0.0058222722614349465, 0.589550600443501, -0.986015260219574, 0.1528393030166626, -0.0420251302421093, 0.0903921127319336, 0.04000633881703627, -0.008819422794809337], "mean": [2.5532561667882803, -2.2278100470020266, 0.7006219464737202, 0.0, 0.0, -0.7073255077737277, 0.7068878754240567, 0.39834162054614547, -0.19267373849762212, 0.31650747227691167, -0.9930013357615862, 0.04924977375347106, -0.07701402304113888, 0.03550374041937414, 0.031256452351150266, -0.03153518885792641], "std": [6.876445588910199e-05, 0.00043431024674885825, 0.0008034252133811261, 0.0, 0.0, 0.00025741148059884434, 0.00025762063457308214, 0.09419169219449178, 0.11430836900978959, 0.08700348708390676, 0.00323654075392278, 0.05834434147273333, 0.019614503180095375, 0.023062177407399298, 0.011413787449983583, 0.011127090548607502], "count": [305]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.14285714285714285, -0.15142857142857147, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7428571428571429, 1.0, 0.7785714285714286, 0.08, 0.12, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.017517564402810333, 0.006182669789227193, -0.030444964871194382, -0.00022482435597189745, 0.0019859484777517565, -0.00281967213114754, -0.3377049180327869], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3348597826665121, 0.4261574262851912, 0.3374205521877938, 0.020304876970401238, 0.022850492371455637, 0.031379543423909764, 0.9412520323146553], "count": [305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.055737704038619995], "std": [0.22941449284553528], "count": [305]}, "next.done": {"min": [false], "max": [true], "mean": [0.003278688524590164], "std": [0.05716588778413998], "count": [305]}, "timestamp": {"min": [0.0], "max": [15.2], "mean": [7.6], "std": [4.402272140611028], "count": [305]}, "frame_index": {"min": [0], "max": [304], "mean": [152.0], "std": [88.04544281222056], "count": [305]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [305]}, "index": {"min": [8144], "max": [8448], "mean": [8296.0], "std": [88.04544281222056], "count": [305]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [305]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6186292443368949]], [[0.5649865680769378]], [[0.5182840324850644]]], "std": [[[0.2606859811198348]], [[0.3036157249151939]], [[0.34273637469175383]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5894731277765012]], [[0.57943848733341]], [[0.567501220703125]]], "std": [[[0.22413365714864283]], [[0.2282814974912071]], [[0.23414784554768975]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5595774410472197]], [[0.5508916548186658]], [[0.5406344580556832]]], "std": [[[0.19796219060259143]], [[0.20220476901279233]], [[0.20904834003412662]]], "count": [100]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [249]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [249]}, "observation.state": {"min": [2.371122456632902, -0.7766668939840422, 0.6999971998297756, 0.0, 0.0, 0.7058452367782593, 0.7071060538291931, 0.0006818814992224365, -0.07144231868281681, 0.24902191965236564, -0.9918304681777954, -0.365403413772583, -0.1546141356229782, 6.349795876303688e-05, 0.01793932432485288, -0.04018759377533215], "max": [2.3724643446858726, -0.7761003458003992, 0.7017089857186948, 0.0, 0.0, 0.7071074843406677, 0.7083660364151001, 0.49494528244617286, 0.18945885950151942, 0.6079084922818291, 0.9921237826347351, 0.37010812759399414, 0.12151145935058594, 0.11972840875387192, 0.040500536787993965, -0.012007215564070486], "mean": [2.3715057599342804, -0.7763076643339447, 0.7007291949123159, 0.0, 0.0, 0.7066923662361849, 0.7075207195128782, 0.37196696886948666, 0.03891805805705353, 0.33816619095447115, -0.046403955503639925, -0.0038256545861562095, -0.017355496271412415, 0.060610026850400865, 0.03335697205965828, -0.03395521158148823], "std": [0.00044210340119759067, 0.0001947011444566656, 0.0006127991948777916, 0.0, 0.0, 0.0004035583834393646, 0.00040285904635519907, 0.11294942770634178, 0.08191435312219837, 0.0931341436076205, 0.9444218110803126, 0.3083382110940365, 0.0757926161315526, 0.033282555908377226, 0.008083016086641293, 0.008320844626704897], "count": [249]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.2914285714285714, -0.2257142857142857, -0.06285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9928571428571428, 1.0, 1.0, 0.10285714285714286, 0.1657142857142857, 0.26571428571428574, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0871199082042456, -2.8686173264474795e-05, -0.07475616752725188, -0.001239242685025817, 0.0036947791164658565, 0.013608720596672388, -0.5100401606425703], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46099685958442344, 0.4705286608872211, 0.35643934146930184, 0.05494963654472381, 0.07291771826090354, 0.05938598480746286, 0.8601505882877145], "count": [249]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06425702571868896], "std": [0.24521024525165558], "count": [249]}, "next.done": {"min": [false], "max": [true], "mean": [0.004016064257028112], "std": [0.06324504316475349], "count": [249]}, "timestamp": {"min": [0.0], "max": [12.4], "mean": [6.2], "std": [3.593976442141304], "count": [249]}, "frame_index": {"min": [0], "max": [248], "mean": [124.0], "std": [71.87952884282609], "count": [249]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [249]}, "index": {"min": [8449], "max": [8697], "mean": [8573.0], "std": [71.87952884282609], "count": [249]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [249]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9725490196078431]]], "mean": [[[0.6896637202244179]], [[0.6093728679582184]], [[0.5687215049594057]]], "std": [[[0.1976154083323504]], [[0.2778014761261928]], [[0.33365184707414913]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7248619683957567]], [[0.6827793567133884]], [[0.6496797353707108]]], "std": [[[0.13889227006680063]], [[0.1570876608147266]], [[0.17963094061744034]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.054901960784313725]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7204417084338618]], [[0.6796640038583793]], [[0.6471068821327359]]], "std": [[[0.13319081485616813]], [[0.14716443889150335]], [[0.16724764296308156]]], "count": [100]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [2.6548554621131615, -1.8045813251589777, 0.6999985768345781, 0.0, 0.0, -0.7077967524528503, 0.706416130065918, 0.16145573720045703, -0.016201413297230793, 0.23863110691901068, -0.9913594126701355, -0.1484871655702591, -0.24757234752178192, 0.0019503008807078004, 0.011698395028104075, -0.03993528309178908], "max": [2.656327165157665, -1.8033953790910375, 0.7021729348330358, 0.0, 0.0, -0.7070534229278564, 0.7071600556373596, 0.4714598702534667, 0.43973293135983393, 0.6058628622296406, 0.9925860166549683, 0.12772557139396667, 0.1297813355922699, 0.05918155238032341, 0.04020471295746133, -0.003715493573726214], "mean": [2.6554317359954274, -1.8039325809215105, 0.7011679497366506, 0.0, 0.0, -0.7074413136312157, 0.7067719956112516, 0.35114679692584505, 0.18473252211240562, 0.33250428114541153, -0.8092109046544239, -0.060102606749838326, -0.11390136210781754, 0.03059389189465541, 0.035245648981184846, -0.03456919563227149], "std": [0.0005537592263460596, 0.0004246644922721329, 0.0007809269778648813, 0.0, 0.0, 0.0002427836865293786, 0.00024296975736826012, 0.07241898872381727, 0.13331695132566662, 0.09712039823995582, 0.563150388992542, 0.06970836804352919, 0.07339913870697469, 0.01645706018486247, 0.007732523947112281, 0.009083214333308576], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5714285714285715, -0.12, -0.09142857142857143, -0.12, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5357142857142857, 1.0, 0.7928571428571428, 0.15142857142857147, 0.06, 0.13714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013125568698817074, -0.003707916287534125, -0.017879890809827128, -0.0002183803457688811, -0.0006187443130118288, -0.0017106460418562322, -0.4713375796178344], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25436163911873955, 0.42933288158995964, 0.3440404816089457, 0.021676854384136152, 0.01852010398287417, 0.02918069208570013, 0.8819528819840674], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05095541477203369], "std": [0.21990668773651123], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [314]}, "index": {"min": [8698], "max": [9011], "mean": [8854.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [314]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6158043278712851]], [[0.571876875335095]], [[0.5186767362706802]]], "std": [[[0.20280677327498103]], [[0.23966073116380557]], [[0.29041914470519364]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.050980392156862744]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4121209112429151]], [[0.467625181908701]], [[0.4781496001598882]]], "std": [[[0.2705222912360252]], [[0.22045899400214997]], [[0.21324514448675627]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.10196078431372549]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3686985395842907]], [[0.42992354867972576]], [[0.4425424026788449]]], "std": [[[0.2524020402810294]], [[0.2046405906552788]], [[0.19899942608423976]]], "count": [100]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [1.1722820970812537, -0.8169119390016434, 0.7000000195092505, 0.0, 0.0, 0.706106960773468, 0.7070963382720947, 0.24454936632369306, -0.07377509478521316, 0.24718121906940238, -0.9971994161605835, -0.12137995660305023, -0.18898731470108032, 8.595807230449282e-06, 0.01584157157596131, -0.03988936071960307], "max": [1.1734344177928993, -0.8164198906880052, 0.7009590751779506, 0.0, 0.0, 0.7071171402931213, 0.7081051468849182, 0.4668376686537779, 0.27572001510876387, 0.574405407041856, 0.9928945899009705, 0.16635577380657196, 0.18859142065048218, 0.08693528175354004, 0.040580482042356696, -0.015326328877734328], "mean": [1.1726625252446474, -0.8167316460987734, 0.7005193435525521, 0.0, 0.0, 0.70678990007575, 0.7074233709073593, 0.37357364648121877, 0.08608326720597502, 0.32204356753298136, -0.9325255990404436, 0.05196795236519083, -0.1008856606314235, 0.029675437344872296, 0.035398328422696405, -0.03369930839097871], "std": [0.0003573521423940824, 0.00014885187114274366, 0.00027880541065031553, 0.0, 0.0, 0.00031349624636001835, 0.0003130611334431803, 0.0633750470784857, 0.09500682130637961, 0.06992715533671894, 0.3285275827252768, 0.06392341533240574, 0.06115635526740204, 0.02966676618445949, 0.008100517409919189, 0.008656394053960806], "count": [317]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -0.95, -0.8428571428571429, -0.14285714285714285, -0.16285714285714287, -0.13428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 0.8642857142857142, 0.6714285714285714, 0.12285714285714287, 0.14857142857142858, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.001487156376746298, -0.018273997296079314, -0.03724650743578183, -0.0025867507886435325, 0.0005768364127985587, -0.00038756196484903294, -0.4069400630914827], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21085821982571087, 0.37179977861660213, 0.2696537802685078, 0.032705495170747084, 0.03478866450243097, 0.04077001939209341, 0.9134548620764497], "count": [317]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05047318711876869], "std": [0.21891924738883972], "count": [317]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031545741324921135], "std": [0.056076936386849144], "count": [317]}, "timestamp": {"min": [0.0], "max": [15.8], "mean": [7.9], "std": [4.575478117093338], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [317]}, "index": {"min": [9012], "max": [9328], "mean": [9170.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [317]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6895765219295726]], [[0.6091804438572305]], [[0.566440700157016]]], "std": [[[0.23298254420309636]], [[0.2891004083405421]], [[0.3394345762637402]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6042351247750077]], [[0.5676535500919118]], [[0.5455730686561734]]], "std": [[[0.22289600642228807]], [[0.24409321500955392]], [[0.26591518472537107]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5904178610409007]], [[0.5295655559464997]], [[0.48243247058344824]]], "std": [[[0.20273508410289232]], [[0.21116593344552353]], [[0.22745133936879455]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [336]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [336]}, "observation.state": {"min": [3.4253757494459607, -3.1003098136416316, 0.6999991406634843, 0.0, 0.0, -1.0, 2.0107795251078642e-07, 0.04516553289774006, -0.09425883933711798, 0.2315065140974616, -0.9949150681495667, -0.6052707433700562, -0.169706791639328, 3.402249058126472e-05, 0.01191817651858511, -0.04049740282410681], "max": [3.4266383876763826, -3.0981149758346036, 0.702374196988876, 0.0, 0.0, 1.0, 0.00267773843370378, 0.3856370671050171, 0.3208283964555636, 0.604687527176246, 0.9919365644454956, 0.5791136026382446, 0.17880038917064667, 0.13484691083431244, 0.04057951084823882, -0.02048762755977283], "mean": [3.4258989755324607, -3.0992189111043253, 0.7010069421191021, 0.0, 0.0, 0.9285703088556018, 0.0011588906809343854, 0.3112013762897627, 0.1257600345495469, 0.3166602558667108, -0.46888372781021254, -0.06290736814428653, -0.07456444718852817, 0.03952153756809128, 0.03596284936125712, -0.0368740078405961], "std": [0.0004077012695637008, 0.000772775511757905, 0.0007717565458352655, 0.0, 0.0, 0.371153528991437, 0.0009703138555537846, 0.058401989733355704, 0.11834501101141617, 0.0988611258804188, 0.8150721671551896, 0.30391162622429757, 0.10740628580674325, 0.028772819420004116, 0.008061412436830858, 0.004017401549124082], "count": [336]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9571428571428572, -0.6214285714285714, -0.14857142857142858, -0.28285714285714286, -0.37714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4785714285714286, 1.0, 1.0, 0.12571428571428572, 0.12857142857142856, 0.9199999999999999, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04591836734693878, 0.001573129251700704, -0.03295068027210886, 0.00021258503401360592, -0.00994047619047619, 0.010144557823129226, -0.44642857142857145], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27473877891606174, 0.35185233285719386, 0.32743437312626633, 0.021956722541084547, 0.06968132622626949, 0.21421694700894833, 0.8948192725976818], "count": [336]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0476190485060215], "std": [0.21295885741710663], "count": [336]}, "next.done": {"min": [false], "max": [true], "mean": [0.002976190476190476], "std": [0.05447322981465216], "count": [336]}, "timestamp": {"min": [0.0], "max": [16.75], "mean": [8.375000000000002], "std": [4.849720782340635], "count": [336]}, "frame_index": {"min": [0], "max": [335], "mean": [167.5], "std": [96.99441564681271], "count": [336]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [336]}, "index": {"min": [9329], "max": [9664], "mean": [9496.5], "std": [96.99441564681271], "count": [336]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [336]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6740717653760724]], [[0.5662120415182674]], [[0.4621270560470282]]], "std": [[[0.2508353489268167]], [[0.1977462765170103]], [[0.17771194571990914]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6072775334376915]], [[0.5114486335305607]], [[0.45369023042566636]]], "std": [[[0.206399494269426]], [[0.194929412397233]], [[0.18458354922617856]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5724357670802696]], [[0.4810644776587393]], [[0.4306009784773284]]], "std": [[[0.20834546698965534]], [[0.1978284236796686]], [[0.18791630046628882]]], "count": [100]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [375]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [375]}, "observation.state": {"min": [3.4842286725114544, -4.512816425264156, 0.6999953645810595, 0.0, 0.0, -1.0, 5.079500908777845e-08, 0.05110021798266384, -0.0011331799391731678, 0.2344481267701245, -0.99847012758255, -0.34385958313941956, -0.16335786879062653, 5.402118040365167e-05, 0.020571495326509835, -0.04001743199540462], "max": [3.4843305371228763, -4.512176884550837, 0.7001755713570508, 0.0, 0.0, 1.0, 0.0009403842268511653, 0.48518000708113984, 0.4999107587198415, 0.591286627727161, 0.996293842792511, 0.34298577904701233, 0.15826477110385895, 0.04266368970274925, 0.040228933103315656, -0.019634636451044622], "mean": [3.4842807839098393, -4.5126099720046815, 0.7000701040820209, 0.0, 0.0, 0.06666659545898437, 0.0003034583487201038, 0.3776031313607534, 0.20782167577752783, 0.32290647559636787, -0.748852809270223, 0.08172243622938792, 0.019593235696045062, 0.018094586138215768, 0.03718962168262845, -0.03643473561650093], "std": [3.145735343862408e-05, 0.00020685594902220114, 6.846536529744327e-05, 0.0, 0.0, 0.9977752365310365, 0.0002980389156538274, 0.09239950522715883, 0.11799342254254121, 0.09576492858682252, 0.6073748080862015, 0.2417065781261915, 0.06635149124188366, 0.010042644170713952, 0.005073969214436486, 0.0062700478590814865], "count": [375]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5928571428571429, -0.06571428571428571, -0.14857142857142858, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 1.0, 1.0, 0.10285714285714286, 0.22285714285714286, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03990476190476185, -0.0003619047619047535, -0.008761904761904735, 0.004518095238095238, 0.008921904761904754, 0.007116190476190516, -0.68], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27891210751564877, 0.4509648065869944, 0.2538079335249027, 0.021750981190889772, 0.046122075776388376, 0.08987340663879212, 0.733212111192933], "count": [375]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04266666620969772], "std": [0.20210446417331696], "count": [375]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026666666666666666], "std": [0.05157087894883657], "count": [375]}, "timestamp": {"min": [0.0], "max": [18.7], "mean": [9.35], "std": [5.412639528609555], "count": [375]}, "frame_index": {"min": [0], "max": [374], "mean": [187.0], "std": [108.2527905721911], "count": [375]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [375]}, "index": {"min": [9665], "max": [10039], "mean": [9852.0], "std": [108.2527905721911], "count": [375]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [375]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5051617814606311]], [[0.4511842513738894]], [[0.4161915947409237]]], "std": [[[0.1337433505178]], [[0.11912992003258682]], [[0.1286803793390198]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4629931999655331]], [[0.4534267380658318]], [[0.4501536027496936]]], "std": [[[0.17714932904541558]], [[0.18259781904303568]], [[0.18636253466593578]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46472014303768383]], [[0.4573438924153646]], [[0.45552626486385567]]], "std": [[[0.17536069796283735]], [[0.18467636501804613]], [[0.1893797743438824]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [2.3930268428472967, -0.7931301317076582, 0.6999965971614218, 0.0, 0.0, 0.7068512439727783, 0.7070047855377197, -0.007701439615707906, -0.049468399441109145, 0.2287087987310854, -0.9971452951431274, -0.1263209879398346, -0.17624740302562714, 0.001278073526918888, 0.016383017443887798, -0.04028908305470441], "max": [2.3937293547907204, -0.7915268281545307, 0.702681052973621, 0.0, 0.0, 0.7072088718414307, 0.7073622345924377, 0.4098482989876029, 0.28362999091536434, 0.61596627851765, 0.9899190664291382, 0.0894363522529602, 0.11060882359743118, 0.09859752655029297, 0.040449106668237464, -0.018530980184604272], "mean": [2.3933611180543926, -0.7919758635999775, 0.7008241290670856, 0.0, 0.0, 0.7070542663744052, 0.7071592654675654, 0.34354423947809387, 0.12448725457822506, 0.31956657140066547, -0.9828419797632792, -0.0251909734247482, -0.07994987230751127, 0.0549802878019974, 0.03210603617766491, -0.034325088133222464], "std": [0.0002249870929545955, 0.0005076132726155329, 0.00084900496859906, 0.0, 0.0, 9.333702649708834e-05, 9.333204544245558e-05, 0.08131736699250794, 0.10866117834229455, 0.10607218259428301, 0.11575097414437548, 0.07505630050746508, 0.066778179657095, 0.02193570684984927, 0.008996507378730288, 0.007966410785120275], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9357142857142857, -0.9142857142857143, -0.09714285714285714, -0.2742857142857143, -0.16, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 1.0, 1.0, 0.14285714285714285, 0.2, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.06115459882583168, -0.010029354207436387, -0.03896771037181998, 0.0005577299412915854, 0.005088062622309197, -0.005704500978473581, -0.2876712328767123], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3419865951833685, 0.4236851082894553, 0.36679958872934687, 0.025426676685533497, 0.06713806299300625, 0.0355101786332109, 0.9577292215314253], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [292]}, "index": {"min": [10040], "max": [10331], "mean": [10185.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [292]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9411764705882353]], [[0.9490196078431372]]], "mean": [[[0.6267307601629519]], [[0.518277852974686]], [[0.4469884392233456]]], "std": [[[0.1924907374028738]], [[0.24260117868908845]], [[0.2767807583793051]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781280344046799]], [[0.5593404535031786]], [[0.5317555793313419]]], "std": [[[0.2433290821303007]], [[0.2174484312446843]], [[0.19913667966464085]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.050980392156862744]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6202663550283395]], [[0.5959194096583946]], [[0.5634181716021369]]], "std": [[[0.23039017520103433]], [[0.20339827166372787]], [[0.18630764159714186]]], "count": [100]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [359]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [359]}, "observation.state": {"min": [3.029653914623773, -2.3977118732470535, 0.6999998586458807, 0.0, 0.0, -0.003743885550647974, 0.9999929666519165, 0.14219581591053077, -0.04222771310364504, 0.2245043600895642, -0.990344762802124, -0.29219645261764526, -0.3099963665008545, 0.011535066179931164, 0.006993462162763838, -0.03998039458468397], "max": [3.0328214942491387, -2.394315132444477, 0.7066140130683923, 0.0, 0.0, 7.86804230301641e-06, 1.0, 0.4686469780303346, 0.2577367204347052, 0.6185135023384375, -0.9464598298072815, -0.023922830820083618, -0.018524199724197388, 0.06380898505449295, 0.03990363217050338, -0.0016663921308782384], "mean": [3.0311173883598235, -2.395886617324216, 0.7036779524313865, 0.0, 0.0, -0.001818687059873525, 0.9999976735925276, 0.3932818823018335, 0.09848837337447423, 0.29778706235431124, -0.980043612980909, -0.15542517668855554, -0.08991315287426321, 0.034733462233023725, 0.03189423132386097, -0.03329949724103623], "std": [0.000995446863523047, 0.0010951316794965903, 0.002095025488745123, 0.0, 0.0, 0.001180161245689218, 2.4030688243836296e-06, 0.06598791534313626, 0.07543941796557747, 0.07898276074623552, 0.011831093961453489, 0.055945263860526215, 0.05131166996700076, 0.012806754506558733, 0.010012947644022992, 0.011491368388375776], "count": [359]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.028571428571428574, -0.24285714285714288, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 0.7857142857142857, 1.0, 0.05142857142857143, 0.16285714285714287, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04568245125348187, -0.005451651412654211, -0.08376442499005173, 0.001878233187425388, -0.005244727417429367, 0.005029844807003583, -0.46518105849582175], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25104178164993235, 0.3701654566186485, 0.3823130551199167, 0.00931129408685547, 0.05713157541261959, 0.05230916918042735, 0.8852155572608894], "count": [359]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04735375940799713], "std": [0.21239438652992249], "count": [359]}, "next.done": {"min": [false], "max": [true], "mean": [0.002785515320334262], "std": [0.05270442319895404], "count": [359]}, "timestamp": {"min": [0.0], "max": [17.9], "mean": [8.950000000000001], "std": [5.181698563212646], "count": [359]}, "frame_index": {"min": [0], "max": [358], "mean": [179.0], "std": [103.63397126425292], "count": [359]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [359]}, "index": {"min": [10332], "max": [10690], "mean": [10511.0], "std": [103.63397126425292], "count": [359]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [359]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6370096297918582]], [[0.5347576646991805]], [[0.4511526860255821]]], "std": [[[0.21446387520538357]], [[0.26914790849017334]], [[0.33372765140164024]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5521773280723422]], [[0.5249881071202895]], [[0.5094318201401655]]], "std": [[[0.24634724198639366]], [[0.25973413604669826]], [[0.2775638780090244]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5549470801259957]], [[0.5091555062088312]], [[0.47240620212928924]]], "std": [[[0.2380737835112357]], [[0.24010116402659168]], [[0.2520452804089895]]], "count": [100]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [320]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [320]}, "observation.state": {"min": [2.288147160216337, -1.4910889025383283, 0.6999992651103841, 0.0, 0.0, -0.708224892616272, 0.7059869170188904, 0.06224556962935979, -0.11978652178909144, 0.24006732895375604, -0.9992223381996155, -0.2091643214225769, -0.1503249704837799, 0.00015421496937051415, 0.011471409942862453, -0.04033805533821846], "max": [2.2891697182509465, -1.4899966381501364, 0.7033171119787971, 0.0, 0.0, -0.707085371017456, 0.70712810754776, 0.464528604830031, 0.1744606591154323, 0.6123911158392102, 0.9994803667068481, 0.18470270931720734, 0.10434210300445557, 0.20301596820354462, 0.0406335327491207, -0.0044520383872363725], "mean": [2.288790360913194, -1.4905708773237007, 0.7013811260319138, 0.0, 0.0, -0.7075118297711015, 0.7067012790590524, 0.3708186560396824, -0.007547073425283079, 0.3212187990682683, -0.4039197687059641, -0.04458468544762582, -0.007086007580801379, 0.0710134573248979, 0.034373307405114586, -0.034488460584145265], "std": [0.0003463576600819672, 0.00040332756595101146, 0.0013322189145118497, 0.0, 0.0, 0.00038973148758567034, 0.0003903221905853727, 0.08400891072774704, 0.09351374354579481, 0.08911152075283685, 0.9020601541676094, 0.09014152073774721, 0.0663310277623197, 0.05941444868963626, 0.009011342689772066, 0.010479992953036], "count": [320]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.18285714285714286, -0.2285714285714286, -0.06857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 1.0, 0.7428571428571429, 0.17714285714285713, 0.18, 0.2485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.055133928571428556, 0.00022321428571429625, -0.08462053571428575, -0.0021517857142857137, 0.0064375000000000075, 0.005071428571428569, -0.43125], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3523229869951411, 0.4465945561965152, 0.3433941796820511, 0.0636411128659079, 0.05635494674224645, 0.04353505507528565, 0.9022324741994174], "count": [320]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05000000074505806], "std": [0.21794493496418], "count": [320]}, "next.done": {"min": [false], "max": [true], "mean": [0.003125], "std": [0.05581428468591172], "count": [320]}, "timestamp": {"min": [0.0], "max": [15.95], "mean": [7.975], "std": [4.618779600717056], "count": [320]}, "frame_index": {"min": [0], "max": [319], "mean": [159.5], "std": [92.37559201434111], "count": [320]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [320]}, "index": {"min": [10691], "max": [11010], "mean": [10850.5], "std": [92.37559201434111], "count": [320]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [320]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.519303170596852]], [[0.41489420333563115]], [[0.32916582115023746]]], "std": [[[0.20547763961774976]], [[0.21357575127029033]], [[0.2151520605079233]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47418033435297946]], [[0.4439417132209329]], [[0.41512639363606774]]], "std": [[[0.201977437049037]], [[0.21050415218028726]], [[0.22411693847217895]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4929897012149586]], [[0.4489190428490732]], [[0.4114608531278723]]], "std": [[[0.21461807892262874]], [[0.22301899408788287]], [[0.2326309157789713]]], "count": [100]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [378]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [378]}, "observation.state": {"min": [2.2270445561511902, -3.8156985589203365, 0.6999990406300705, 0.0, 0.0, -0.0011902862461283803, 0.9999992847442627, 0.05126407113822973, -0.34735179922587633, 0.24623899569201846, -0.9991912841796875, -0.8141310214996338, -0.1699134111404419, 1.0199581993219908e-05, 0.008270544443467441, -0.04042996832764706], "max": [2.2273390401526894, -3.815003094931238, 0.7010661006270907, 0.0, 0.0, 0.0003912398824468255, 1.0, 0.5027639656174134, -0.014308045865696783, 0.6130368359528156, 0.9743300080299377, 0.6356508731842041, 0.11482928693294525, 0.09459733217954636, 0.03999482556554836, -0.008365553114773284], "mean": [2.2271997540859227, -3.815430637728239, 0.7004827106626743, 0.0, 0.0, -0.0004077236594592503, 0.9999998196092232, 0.34250710918268884, -0.16270784568010582, 0.3370306541018363, -0.6865114585432426, -0.27926646752489936, -0.028163860508896136, 0.028656364555575107, 0.03063923599958679, -0.03251066985012098], "std": [0.00010513089118507205, 0.00016726686764302381, 0.0003468537188263811, 0.0, 0.0, 0.0004993146656211409, 2.1296878787727107e-07, 0.10062711351613, 0.11056428695218043, 0.09402377394893886, 0.5338714991928402, 0.3960552391211864, 0.08290935715968509, 0.018583983786479876, 0.012296481770299746, 0.011873331007876879], "count": [378]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9857142857142858, -0.6357142857142857, -0.028571428571428574, -0.2714285714285714, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7714285714285714, 1.0, 0.8857142857142857, 0.24285714285714288, 0.1142857142857143, 0.5628571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03677248677248676, -0.0019841269841269966, -0.018594104308390005, 0.0065759637188208655, 0.006031746031746034, 0.00973544973544971, -0.3333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3033021356158441, 0.3813132207815504, 0.30444340912116175, 0.035521207204573725, 0.04782344643141728, 0.14355440265311964, 0.9428090415820652], "count": [378]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042328041046857834], "std": [0.20133647322654724], "count": [378]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026455026455026454], "std": [0.051366369944305816], "count": [378]}, "timestamp": {"min": [0.0], "max": [18.85], "mean": [9.424999999999999], "std": [5.455940951537752], "count": [378]}, "frame_index": {"min": [0], "max": [377], "mean": [188.5], "std": [109.11881903075503], "count": [378]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [378]}, "index": {"min": [11011], "max": [11388], "mean": [11199.5], "std": [109.11881903075503], "count": [378]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [378]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6287292330872779]], [[0.5390093323950674]], [[0.4690815501493566]]], "std": [[[0.20305387614165993]], [[0.26219952635305366]], [[0.2957057757996225]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5700493056353401]], [[0.5593987684062883]], [[0.5468156415153952]]], "std": [[[0.20581197119079692]], [[0.21140738083838692]], [[0.21423913215696733]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5601377156575521]], [[0.5522733872357536]], [[0.5406302508185892]]], "std": [[[0.21531027738516867]], [[0.21809747427785603]], [[0.21686241089669922]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [319]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [319]}, "observation.state": {"min": [3.716792455091076, -3.2714209267374796, 0.6999991291511624, 0.0, 0.0, -0.0014312799321487546, 0.9999990463256836, -0.004319152145926708, -0.047058198842800714, 0.22725992034847864, -0.9884099364280701, -0.5505362153053284, -0.19494998455047607, 0.00028121619834564626, 0.011936624960378528, -0.040749237156043165], "max": [3.7178319240275535, -3.2698642089612964, 0.7018867803731713, 0.0, 0.0, 0.0002576839178800583, 1.0, 0.4349066717073966, 0.2231187296415773, 0.6005232891034359, 0.9814091920852661, 0.5498942136764526, 0.15330760180950165, 0.1544448733329773, 0.03998231819219288, -0.01823635698242495], "mean": [3.7174660432068496, -3.2705510424921544, 0.7006641730953541, 0.0, 0.0, -0.00059333198992007, 0.9999996991740498, 0.3390436518194377, 0.07801718535063015, 0.31685276531538703, -0.6768402845881949, -0.15338473872144395, -0.07216100361717129, 0.028696296743805548, 0.033221538777750706, -0.035531010884445616], "std": [0.00044011514869004117, 0.0005377644233192486, 0.0008154231606531373, 0.0, 0.0, 0.0005449125727582225, 3.1614398645471844e-07, 0.08500212240572198, 0.09744407457545241, 0.09458483080957292, 0.6171461102188625, 0.34577054827596415, 0.10580366723008634, 0.02662062950501099, 0.008919307497672944, 0.006302667247985859], "count": [319]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9714285714285714, -0.16, -0.3742857142857143, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 1.0, 0.9357142857142857, 0.08285714285714285, 0.23428571428571432, 0.6828571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.051634572324227496, -0.00013434841021047869, -0.017487684729063983, -0.010676220331392745, -0.003582624272279446, 0.009359605911330043, -0.3730407523510972], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30910838991621736, 0.36757532436474366, 0.35354273623029103, 0.03467530587845635, 0.07097886786030051, 0.13952107634234126, 0.9278149584293883], "count": [319]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050156738609075546], "std": [0.21826830506324768], "count": [319]}, "next.done": {"min": [false], "max": [true], "mean": [0.003134796238244514], "std": [0.05590142476528842], "count": [319]}, "timestamp": {"min": [0.0], "max": [15.9], "mean": [7.95], "std": [4.604345773288535], "count": [319]}, "frame_index": {"min": [0], "max": [318], "mean": [159.0], "std": [92.0869154657707], "count": [319]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [319]}, "index": {"min": [11389], "max": [11707], "mean": [11548.0], "std": [92.0869154657707], "count": [319]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [319]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6330154915603937]], [[0.534508706485524]], [[0.46039825439453125]]], "std": [[[0.1935192612654498]], [[0.18735079844193653]], [[0.20211408224534666]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.583409553677428]], [[0.5355514406690411]], [[0.48733629593194705]]], "std": [[[0.18139426764257818]], [[0.1924325593497515]], [[0.2079244577047675]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.624587365842333]], [[0.5676843901989507]], [[0.5130623695523131]]], "std": [[[0.1660011492437838]], [[0.18364402125950874]], [[0.2027256129159667]]], "count": [100]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [326]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [326]}, "observation.state": {"min": [2.5556928234639336, -1.7915236271299249, 0.699998933266882, 0.0, 0.0, -0.707692563533783, 0.7065206170082092, 0.062447626817334845, -0.009229919037319956, 0.2278768803601503, -0.9972030520439148, -0.14723122119903564, -0.16621564328670502, 0.006646765395998955, 0.006849238425752602, -0.040174298492286105], "max": [2.5580004678037005, -1.789655327622369, 0.7030661423759034, 0.0, 0.0, -0.7069880962371826, 0.7072254419326782, 0.38752323395638477, 0.24961748110517012, 0.6059977861781344, -0.9808530211448669, 0.0456928089261055, -0.05646222084760666, 0.061202798038721085, 0.04041309024888323, -0.005038438669933137], "mean": [2.5570642835891633, -1.790802874164447, 0.7011642829628291, 0.0, 0.0, -0.7073095325677673, 0.706903864452444, 0.31475061661343035, 0.10915697494379988, 0.31963370046172745, -0.9852625462540819, -0.11995368414312783, -0.1051932115199193, 0.03398300013133536, 0.03141316926837837, -0.030142663368962014], "std": [0.0009874640801382133, 0.0008469539556708185, 0.0013979445297943546, 0.0, 0.0, 0.00025239004517710973, 0.0002525672962201399, 0.061723952286975504, 0.09325232571326138, 0.10056125311114146, 0.0037851744878866153, 0.04329860120104151, 0.023009215955813272, 0.01516081333946356, 0.012179929599306171, 0.013377098299091306], "count": [326]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.807142857142857, -0.7142857142857143, -1.0, -0.045714285714285714, -0.1657142857142857, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 0.942857142857143, 1.0, 0.005714285714285714, 0.07714285714285714, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04555214723926379, -0.0027607361963190116, -0.03663453111305874, -0.0014636283961437335, 0.002234881682734444, -0.0027081507449605636, -0.25153374233128833], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22741704000078533, 0.31273502508388684, 0.33907325073242467, 0.006003735993586894, 0.019805955380434555, 0.03981807681430955, 0.967848529713623], "count": [326]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04907975345849991], "std": [0.21603456139564514], "count": [326]}, "next.done": {"min": [false], "max": [true], "mean": [0.003067484662576687], "std": [0.055299866188098], "count": [326]}, "timestamp": {"min": [0.0], "max": [16.25], "mean": [8.125], "std": [4.705382556179678], "count": [326]}, "frame_index": {"min": [0], "max": [325], "mean": [162.5], "std": [94.10765112359356], "count": [326]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [326]}, "index": {"min": [11708], "max": [12033], "mean": [11870.5], "std": [94.10765112359356], "count": [326]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [326]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3373214236988741]], [[0.2608393997491575]], [[0.2017147964776731]]], "std": [[[0.22292630011527864]], [[0.1361696455225955]], [[0.12689407133228203]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40923335714901193]], [[0.3594027524461933]], [[0.32835088333429074]]], "std": [[[0.22478237765293713]], [[0.21030375353082748]], [[0.2202414491628561]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.412738504447189]], [[0.3712850425570619]], [[0.3456347440831802]]], "std": [[[0.22475025048729372]], [[0.2213331222081715]], [[0.23406726700259742]]], "count": [100]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [414]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [414]}, "observation.state": {"min": [6.179719401413547, -1.5745976100922523, 0.6999983326972453, 0.0, 0.0, -0.0004824599891435355, 0.9999998807907104, 0.046664458484142024, -0.2658599468846825, 0.2278882110351258, -0.9984093308448792, -0.17041842639446259, -0.13674265146255493, 0.004031246993690729, 0.01116387663552729, -0.04041941578372005], "max": [6.1809311521582275, -1.5740174668629108, 0.7025086465032688, 0.0, 0.0, 0.00048583291936665773, 1.0, 0.3894199402061016, 0.0427332888309957, 0.5968160103771282, -0.9776334762573242, 0.200590580701828, 0.04611337184906006, 0.08105187118053436, 0.04000580338711314, -0.006803908894181152], "mean": [6.1805356199355534, -1.574266436289484, 0.7010527416024454, 0.0, 0.0, 5.017026605147307e-05, 0.999999980131785, 0.31758763058642847, -0.12018748580080149, 0.3105051030566026, -0.9861186798931896, -0.00995527273538896, -0.014529373074343523, 0.04417756527599289, 0.03239138149102089, -0.03315054145319175], "std": [0.00040668190730596326, 0.00017203608060587994, 0.0008338960880496459, 0.0, 0.0, 0.00027947820211164306, 4.442667916416689e-08, 0.06187780714842595, 0.11764601526036728, 0.08668774715831948, 0.005087446747529554, 0.1519796976500912, 0.0414142632810713, 0.02166189769691153, 0.010029750357008451, 0.010379412552375854], "count": [414]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8857142857142857, -0.8857142857142857, -0.6214285714285714, -0.09714285714285714, -0.05428571428571429, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 1.0, 0.8357142857142857, 0.1742857142857143, 0.09142857142857143, 0.09714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04197722567287783, 0.0154416839199448, -0.03331608005521054, -0.001235334713595583, 0.004506556245686678, -0.007239475500345066, -0.28502415458937197], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22648251752457624, 0.3480084741540316, 0.29553146341601305, 0.016238879224435544, 0.01934296212509885, 0.04416344272218812, 0.9585203343177504], "count": [414]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03864734247326851], "std": [0.19275301694869995], "count": [414]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024154589371980675], "std": [0.04908792616642892], "count": [414]}, "timestamp": {"min": [0.0], "max": [20.65], "mean": [10.325000000000001], "std": [5.975557854013855], "count": [414]}, "frame_index": {"min": [0], "max": [413], "mean": [206.5], "std": [119.5111570802771], "count": [414]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [414]}, "index": {"min": [12034], "max": [12447], "mean": [12240.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [414]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6033174941119026]], [[0.45460290766697303]], [[0.36960917334463084]]], "std": [[[0.15651789961620866]], [[0.14486020799828747]], [[0.13687850622853145]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6202910263959099]], [[0.5468899661793428]], [[0.4841232670802696]]], "std": [[[0.13261351823145673]], [[0.1618325956979241]], [[0.17913571600277567]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6124193049412148]], [[0.553688455619064]], [[0.4984451904296875]]], "std": [[[0.1630974715522748]], [[0.17934840058673912]], [[0.19048139009234266]]], "count": [100]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [313]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [313]}, "observation.state": {"min": [3.766837781258534, -1.5988966538398335, 0.6999995171851136, 0.0, 0.0, -0.0018064394826069474, 0.9999984502792358, 0.0677032333576153, -0.09446607433260268, 0.22696575022457444, -0.9927531480789185, -0.35698291659355164, -0.15675349533557892, 0.00011627230560407043, 0.011137411272968915, -0.03991030367654853], "max": [3.7685574419813146, -1.5974134981265744, 0.703426832817747, 0.0, 0.0, 9.370839507027995e-06, 1.0, 0.4096250193361919, 0.10425315988725514, 0.6123109551057453, 0.99270099401474, 0.36108478903770447, 0.15425561368465424, 0.057619910687208176, 0.04052912149996954, 0.0012940126801649586], "mean": [3.767996914591588, -1.5979687405875378, 0.7010946987275755, 0.0, 0.0, -0.00067201575910556, 0.9999996248525552, 0.3256992853166951, -0.012345297481610585, 0.31379298576043724, -0.15996855630661352, 0.02300624670788122, -0.026381075918189466, 0.025681677063519415, 0.035563778346629056, -0.03251193001497349], "std": [0.0006615395799405201, 0.00046675315340143406, 0.001311447122866027, 0.0, 0.0, 0.0005829513095753385, 5.225070877406995e-07, 0.07190779581865035, 0.06148652053248576, 0.09045117723480686, 0.9566823521274366, 0.2217150208457391, 0.08863416504644432, 0.01644943314358783, 0.008978867107726001, 0.01155961093018144], "count": [313]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -0.7285714285714285, -0.9357142857142857, -0.1, -0.1, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6357142857142857, 0.7214285714285715, 0.9928571428571428, 0.09142857142857143, 0.14857142857142858, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.039456869009584665, 0.0024418073938840923, -0.05025102692834315, 0.004509356458238247, 0.009703331811958016, -0.013126426289365594, -0.3993610223642173], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26068734356439954, 0.24189894120874614, 0.3309561165306818, 0.021472392296046573, 0.035247751712212186, 0.05250694297953932, 0.9167937466061826], "count": [313]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05111820995807648], "std": [0.2202388197183609], "count": [313]}, "next.done": {"min": [false], "max": [true], "mean": [0.003194888178913738], "std": [0.05643297678164758], "count": [313]}, "timestamp": {"min": [0.0], "max": [15.6], "mean": [7.799999999999999], "std": [4.517742799230607], "count": [313]}, "frame_index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [313]}, "index": {"min": [12448], "max": [12760], "mean": [12604.0], "std": [90.35485598461214], "count": [313]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [313]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6243820399864047]], [[0.5537905662387025]], [[0.5152680023791744]]], "std": [[[0.16631008569370845]], [[0.2023068753515089]], [[0.23206654752694406]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4617434070063572]], [[0.45785214771943933]], [[0.45395880845013786]]], "std": [[[0.2506118553785988]], [[0.24695840368173994]], [[0.24713966112352773]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.050980392156862744]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43670406805300244]], [[0.4312934420716529]], [[0.42650920374253215]]], "std": [[[0.24529822112506405]], [[0.24214734116173858]], [[0.24289919890473388]]], "count": [100]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [341]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [341]}, "observation.state": {"min": [3.0192060515648964, -1.7798081820561609, 0.6999991167159126, 0.0, 0.0, -0.7091484069824219, 0.7050591707229614, 0.10599116368386019, -0.28234807920283833, 0.22776076929601363, -0.9996340274810791, -0.046759605407714844, -0.17814911901950836, 1.0191293768002652e-05, 0.020518901446984823, -0.04048703942330821], "max": [3.021518667712185, -1.778764604916184, 0.7020178650065636, 0.0, 0.0, -0.7069914937019348, 0.707222044467926, 0.45237201113440073, 0.08044206647962016, 0.6144221253434236, 0.9996519088745117, 0.04974925518035889, 0.21525394916534424, 0.029916875064373016, 0.04135745414221459, -0.007365376620704064], "mean": [3.02015275518878, -1.7792044529094022, 0.7011579538535624, 0.0, 0.0, -0.7082774050074938, 0.7059330314485208, 0.3521761396950516, -0.11895127644801987, 0.3236736908376075, -0.23712909011896754, -0.009152833372354507, -0.001980615167979621, 0.006818828191446348, 0.03626128404195819, -0.03447355277223012], "std": [0.0009694020927345743, 0.00041089335734721157, 0.0008104497793186027, 0.0, 0.0, 0.0009164522909408179, 0.0009188928879889882, 0.06855529861359624, 0.12058711257069496, 0.09619010472241019, 0.9684572133797673, 0.03190843141653612, 0.06826733324533944, 0.006902922049004636, 0.0051413496542750065, 0.008255294087915723], "count": [341]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7785714285714286, -0.6071428571428572, -0.05142857142857143, -0.2057142857142857, -0.02, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5071428571428571, 1.0, 0.9785714285714284, 0.037142857142857144, 0.13714285714285715, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02710515291160459, -0.004042731462086305, -0.02352325094260581, -0.0006451612903225806, 0.0008797653958944291, 0.0034185169669040637, -0.36656891495601174], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2585568436642315, 0.417573551515459, 0.3205587249114948, 0.005866455047859383, 0.04657409596574747, 0.01304070956588765, 0.9303909020341776], "count": [341]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04692082107067108], "std": [0.21146927773952484], "count": [341]}, "next.done": {"min": [false], "max": [true], "mean": [0.002932551319648094], "std": [0.05407357452957705], "count": [341]}, "timestamp": {"min": [0.0], "max": [17.0], "mean": [8.500000000000002], "std": [4.921889880929885], "count": [341]}, "frame_index": {"min": [0], "max": [340], "mean": [170.0], "std": [98.4377976185977], "count": [341]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [341]}, "index": {"min": [12761], "max": [13101], "mean": [12931.0], "std": [98.4377976185977], "count": [341]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [341]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09019607843137255]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5931500274059819]], [[0.5352623919318704]], [[0.5053521746467141]]], "std": [[[0.20090779635891082]], [[0.22330801539024256]], [[0.24633212665809798]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.07058823529411765]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6707058279000077]], [[0.5990037105784697]], [[0.5427574774050244]]], "std": [[[0.2323845316591271]], [[0.2541960289283607]], [[0.267140533978324]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07450980392156863]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6275571378820083]], [[0.5599353422277114]], [[0.5045837240780101]]], "std": [[[0.2566766615608882]], [[0.2619296461615642]], [[0.26419349820783444]]], "count": [100]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [417]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [417]}, "observation.state": {"min": [4.500034016035834, -1.3336715358634137, 0.699998209628206, 0.0, 0.0, 0.0001495435571996495, 0.9999992847442627, 0.128201022001039, -0.33859873972997856, 0.23403297367746512, -0.9893752932548523, -0.4151090085506439, -0.15038824081420898, 0.00031093141296878457, 0.007006705418473652, -0.04012957212424094], "max": [4.500257336166028, -1.3330603162332828, 0.700693640423793, 0.0, 0.0, 0.0011927859159186482, 1.0, 0.5540921318159828, -0.006257190627971809, 0.6092982459829992, 0.9718177914619446, 0.6961109638214111, 0.159525066614151, 0.1140112429857254, 0.04008530172100402, -0.006762003958349446], "mean": [4.500144463079735, -1.3332563066478822, 0.7003796368850992, 0.0, 0.0, 0.0008327822751344385, 0.9999996709594909, 0.3990893150069529, -0.20423693864441292, 0.3321324766222085, -0.7133321484787573, 0.38009329622598004, 0.008724696648942822, 0.04055909617978195, 0.03218981607223627, -0.03194682213126664], "std": [6.458273070022331e-05, 0.0001380162171828721, 0.00023890012591245292, 0.0, 0.0, 0.0002081520624673844, 1.609364249850035e-07, 0.10357623199105807, 0.11201182627859951, 0.10159824074792974, 0.5112601928141605, 0.27308072624763846, 0.09228364304819144, 0.022109580621511703, 0.011551384761158122, 0.011561573875682024], "count": [417]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -0.95, -0.6571428571428571, -0.14, -0.18, -0.36, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5, 1.0, 1.0, 0.09714285714285714, 0.1457142857142857, 0.18, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015844467283316205, 0.009660842754367896, -0.0007879410757108943, -0.001980130181569031, 0.002768071257279886, -0.010393970537855452, -0.4580335731414868], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2665996270020911, 0.3710550306063515, 0.32640806746100903, 0.031523016656168336, 0.04054408864252574, 0.08942830779714439, 0.8889348940587521], "count": [417]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.038369305431842804], "std": [0.19208617508411407], "count": [417]}, "next.done": {"min": [false], "max": [true], "mean": [0.002398081534772182], "std": [0.048911458163959566], "count": [417]}, "timestamp": {"min": [0.0], "max": [20.8], "mean": [10.399999999999999], "std": [6.018859249614222], "count": [417]}, "frame_index": {"min": [0], "max": [416], "mean": [208.0], "std": [120.37718499228443], "count": [417]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [417]}, "index": {"min": [13102], "max": [13518], "mean": [13310.0], "std": [120.37718499228443], "count": [417]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [417]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.59759758384555]], [[0.5345627351648666]], [[0.4366039686016008]]], "std": [[[0.17771051632922683]], [[0.16727113775374491]], [[0.1539904059454462]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6390597947064568]], [[0.6210094233494179]], [[0.6017443093692555]]], "std": [[[0.27702820124498573]], [[0.2843264796602192]], [[0.2936803728207462]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7348514308555454]], [[0.7212776920094209]], [[0.7044723271388633]]], "std": [[[0.26877963541832645]], [[0.2786112668555665]], [[0.29215850263551296]]], "count": [100]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [266]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [266]}, "observation.state": {"min": [5.336587369517179, -2.6325469386316507, 0.699995108652178, 0.0, 0.0, -0.0015141171170398593, 0.999998927116394, 0.05763908079256286, -0.09917628204171525, 0.2280213359673573, -0.9980029463768005, -0.32148879766464233, -0.19055812060832977, 0.005910621955990791, 0.020533052913080302, -0.04002981773831084], "max": [5.3382757897845385, -2.6317153604779064, 0.7024869647355702, 0.0, 0.0, -8.076895028352737e-05, 1.0, 0.4313909581299109, 0.19975275685440597, 0.5861337673499047, -0.9446548819541931, 0.04456344246864319, -0.038972701877355576, 0.061037302017211914, 0.04038685632473026, -0.02053350632727604], "mean": [5.33787076512046, -2.632022959868577, 0.700562942817889, 0.0, 0.0, -0.0005623298591097793, 0.999999785781803, 0.3334266464415838, 0.04865656444762798, 0.3162844003719482, -0.9816332490820634, -0.08785961010962501, -0.1120769780801427, 0.019630804808488243, 0.03753869907107175, -0.036503754300954615], "std": [0.0006132854913973977, 0.00026016251718248226, 0.0009245559950165661, 0.0, 0.0, 0.0004325572143931568, 3.720541375118006e-07, 0.07158678769966532, 0.09902646669752246, 0.08802616256596872, 0.01483582134811018, 0.1130396871957581, 0.05111453917069777, 0.010930056349727445, 0.003468661439698555, 0.004127073746770286], "count": [266]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.09142857142857143, -0.19428571428571428, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7714285714285714, 1.0, 1.0, 0.045714285714285714, 0.17714285714285713, 0.34285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04419978517722877, 0.01517185821697102, -0.011385606874328675, -0.0011922663802363045, 0.0005477980665950578, -0.0011170784103114817, -0.3233082706766917], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30418435044349945, 0.47955813643123707, 0.40594500103494835, 0.016029626218788263, 0.04870998806274355, 0.08253452848215254, 0.9462936975971307], "count": [266]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.060150377452373505], "std": [0.23776523768901825], "count": [266]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037593984962406013], "std": [0.06119857366954777], "count": [266]}, "timestamp": {"min": [0.0], "max": [13.25], "mean": [6.625], "std": [3.8393521588934765], "count": [266]}, "frame_index": {"min": [0], "max": [265], "mean": [132.5], "std": [76.78704317786953], "count": [266]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [266]}, "index": {"min": [13519], "max": [13784], "mean": [13651.5], "std": [76.78704317786953], "count": [266]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [266]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9176470588235294]], [[0.9215686274509803]], [[0.9568627450980393]]], "mean": [[[0.6130005068311505]], [[0.5368556632247626]], [[0.46792758657418043]]], "std": [[[0.18111342126334695]], [[0.22118320491771748]], [[0.242372229151027]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6126272038478476]], [[0.5664535965265013]], [[0.5142583013796339]]], "std": [[[0.1858489062343585]], [[0.1900392918339016]], [[0.19754480427265927]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6628713163488051]], [[0.6224406020220589]], [[0.5738013844209559]]], "std": [[[0.15369901740576292]], [[0.16162181458023678]], [[0.17158122654725863]]], "count": [100]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [2.359395134471039, -2.2460529523352393, 0.6999992018245237, 0.0, 0.0, -0.7073072195053101, 0.706906259059906, 0.19754150175459184, -0.3470991853981755, 0.24410493419496904, -0.9942620992660522, -0.08393126726150513, -0.2890063226222992, 5.889662497793324e-05, 0.01805375131913947, -0.03989084722953012], "max": [2.359630919839127, -2.245958401184737, 0.7002330846441402, 0.0, 0.0, -0.7070904970169067, 0.7071230411529541, 0.49082071153687545, 0.027200544399065052, 0.6105778525886064, 0.9911865592002869, 0.0787653923034668, 0.29312869906425476, 0.040612462908029556, 0.03997450335916289, -0.018147964619708527], "mean": [2.3595245960498965, -2.246010458330698, 0.7000775169380353, 0.0, 0.0, -0.7071800182943475, 0.7070335219167683, 0.3786813385160845, -0.1247175413124018, 0.346551163283191, -0.6806517896586901, -0.007169836366625681, -0.1129362948545038, 0.01820485747863779, 0.034317229132679386, -0.033848857595694753], "std": [5.027494649105676e-05, 2.4396174929966157e-05, 7.897959493613133e-05, 0.0, 0.0, 4.753332317725745e-05, 4.7516437807026726e-05, 0.05643091343534831, 0.12512533717242771, 0.09586780017222171, 0.7107141105960608, 0.032840551253497725, 0.13109736874936267, 0.014005184424192768, 0.00809162792023841, 0.008040714851560656], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.09142857142857143, -0.1142857142857143, -0.10857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6714285714285714, 1.0, 0.7785714285714286, 0.07714285714285714, 0.13142857142857142, 0.028571428571428574, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004011741682974502, -0.013331702544031262, -0.02098825831702545, -0.0003033268101761254, -0.004109589041095891, -0.0071526418786692775, -0.3493150684931507], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2786247033742742, 0.44812881532321586, 0.3550710184653171, 0.013486145578476768, 0.02786900264927554, 0.01805700024664267, 0.9370053270518925], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [292]}, "index": {"min": [13785], "max": [14076], "mean": [13930.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [292]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5906098261814491]], [[0.4922707166484758]], [[0.4379823710123698]]], "std": [[[0.16652853843606713]], [[0.21253087692696324]], [[0.25445723274412946]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.07058823529411765]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6240542949601715]], [[0.5949496424057904]], [[0.56055207974303]]], "std": [[[0.1680198002771154]], [[0.16489460308500534]], [[0.17292248955190626]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07058823529411765]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6170508835736443]], [[0.5884596312279795]], [[0.556933058794807]]], "std": [[[0.1759548753009677]], [[0.17958525020433944]], [[0.19287577869774628]]], "count": [100]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [276]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [276]}, "observation.state": {"min": [2.168529610162257, -0.7943007009575376, 0.6999988975733492, 0.0, 0.0, 0.7068821787834167, 0.7069481015205383, 0.049102849543721905, -0.2723699593845783, 0.23055096535556885, -0.9994189739227295, -0.03312376141548157, -0.14112351834774017, 0.0006988979876041412, 0.020567061009889014, -0.040246309062238826], "max": [2.168790551209131, -0.793785672692815, 0.700804977610435, 0.0, 0.0, 0.7072654366493225, 0.7073313593864441, 0.47420525671233005, 0.012072494338073891, 0.5973010192513969, 0.9994298219680786, 0.04661684110760689, 0.19682297110557556, 0.05654795840382576, 0.03999638884110283, -0.01920662272965582], "mean": [2.168686882966247, -0.7939124710410328, 0.7002321349005233, 0.0, 0.0, 0.7070775463961173, 0.7071359827034716, 0.3558427261946533, -0.11984084820950872, 0.3233554520781628, -0.48533544052338257, -0.009504886047131773, -0.016690763250707, 0.021991999116321298, 0.035203969594114204, -0.03565092612935371], "std": [6.554324255928457e-05, 0.00017073179786978253, 0.0002778255352493865, 0.0, 0.0, 9.651167213114702e-05, 9.650943507184386e-05, 0.10225492081296021, 0.09255257988578944, 0.10276248135246711, 0.87200615474034, 0.029012436957910677, 0.047398138243793415, 0.01067264863603576, 0.005978674879323453, 0.006700796291100304], "count": [276]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6, -0.15428571428571428, -0.23714285714285716, -0.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5714285714285715, 1.0, 1.0, 0.10857142857142858, 0.12, 0.05142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04164078674948238, 0.013664596273291914, -0.01332815734989651, -0.0022360248447204963, -0.0007971014492753663, 0.0007349896480331263, -0.5072463768115942], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35708048015752136, 0.4403135883589277, 0.34924656934065923, 0.027617060963249365, 0.05268915112652929, 0.004208185946844231, 0.8618010868010726], "count": [276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05797101557254791], "std": [0.23368863761425018], "count": [276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036231884057971015], "std": [0.060083782433974636], "count": [276]}, "timestamp": {"min": [0.0], "max": [13.75], "mean": [6.875], "std": [3.983690709212585], "count": [276]}, "frame_index": {"min": [0], "max": [275], "mean": [137.5], "std": [79.6738141842517], "count": [276]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [276]}, "index": {"min": [14077], "max": [14352], "mean": [14214.5], "std": [79.6738141842517], "count": [276]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [276]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5999279174804688]], [[0.4848645570044424]], [[0.44453022018133426]]], "std": [[[0.21164561589821204]], [[0.24930045265854822]], [[0.2507311225930431]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09411764705882353]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6359754650639553]], [[0.6291908186370251]], [[0.6169623616536458]]], "std": [[[0.19720991672830152]], [[0.1989640766428019]], [[0.1959033451448206]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6219870749080882]], [[0.6148227754480698]], [[0.6048935223747702]]], "std": [[[0.18727338542280803]], [[0.19072375773403263]], [[0.1908116235159676]]], "count": [100]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [290]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [290]}, "observation.state": {"min": [2.4932327730294843, -0.7834397846331956, 0.6999986607024532, 0.0, 0.0, 0.7063778042793274, 0.7070408463478088, 0.07410769799135386, -0.15908032413859408, 0.2291325264359514, -0.9983144998550415, -0.10817219316959381, -0.22025473415851593, 0.00825663935393095, 0.0020623805620231376, -0.03986299479719822], "max": [2.4939228335226944, -0.7826528137980489, 0.7015033072060058, 0.0, 0.0, 0.7071727514266968, 0.7078349590301514, 0.42774262910950783, 0.1553656928393874, 0.6027494791371992, -0.9750561714172363, 0.024008646607398987, 0.02377634309232235, 0.09405478835105896, 0.03992667654003989, -0.001761317406226445], "mean": [2.4936010074794113, -0.7830717600448164, 0.7008066962937421, 0.0, 0.0, 0.7067571471477377, 0.7074561375996162, 0.3186898858395435, -0.03889760092283392, 0.3062315159522657, -0.9931196490238453, -0.05852888360105712, -0.05663328409264695, 0.0490793721043858, 0.029535721618353734, -0.02893001269806659], "std": [0.00021337275444914436, 0.0002952756605954891, 0.0005624400684151756, 0.0, 0.0, 0.0002455797032909423, 0.0002453776976698443, 0.0827617686878408, 0.10112825613982851, 0.08981055008457746, 0.005125085953531973, 0.032374556049324155, 0.05511606298587355, 0.023652876300792536, 0.012946293479867841, 0.013492501179679144], "count": [290]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9142857142857143, -0.8571428571428572, -0.12285714285714287, -0.2485714285714286, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5285714285714286, 1.0, 1.0, 0.05142857142857143, 0.08857142857142856, 0.07428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04992610837438424, 0.008349753694581245, -0.0493103448275861, 0.0008078817733990139, -0.002443349753694589, -0.003566502463054187, -0.2827586206896552], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3211320386321121, 0.41520212909269427, 0.3457786286843687, 0.01660130972771958, 0.042950282123068895, 0.0281986140365097, 0.9591910979704092], "count": [290]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05517241358757019], "std": [0.22831648588180542], "count": [290]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034482758620689655], "std": [0.05862068965517241], "count": [290]}, "timestamp": {"min": [0.0], "max": [14.45], "mean": [7.225], "std": [4.185764565763344], "count": [290]}, "frame_index": {"min": [0], "max": [289], "mean": [144.5], "std": [83.7152913152669], "count": [290]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [290]}, "index": {"min": [14353], "max": [14642], "mean": [14497.5], "std": [83.7152913152669], "count": [290]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [290]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6295689571605009]], [[0.49949138446882657]], [[0.39156618185604325]]], "std": [[[0.2193895537756515]], [[0.1943183099136017]], [[0.18947144502762409]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09411764705882353]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5737305447447534]], [[0.48706778313131893]], [[0.4326884813495711]]], "std": [[[0.2142748307853421]], [[0.20353766440411586]], [[0.1904535249097238]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.08627450980392157]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6157724974389169]], [[0.5170959197399663]], [[0.45233612778607535]]], "std": [[[0.2095345470529346]], [[0.20699501872215698]], [[0.19850513691151384]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [2.7933999040709003, -1.7619180097496088, 0.6999992371494939, 0.0, 0.0, -0.7076102495193481, 0.706602931022644, 0.22479099858219076, -0.43004394053284667, 0.2471860853057447, -0.9977327585220337, -0.6312907338142395, -0.23946122825145721, 0.00013999512884765863, 0.0008476785154717908, -0.04060798081934949], "max": [2.794728044333834, -1.7600687789591025, 0.7052987432690485, 0.0, 0.0, -0.7065190076828003, 0.7076941132545471, 0.434918264554752, 0.028358965769108124, 0.5887866779901758, 0.9981333017349243, 0.5902124047279358, 0.174001544713974, 0.1904991716146469, 0.04103116882087755, -0.001320279493988625], "mean": [2.7942192755621336, -1.761025446256697, 0.7029090701893979, 0.0, 0.0, -0.7070717738635505, 0.7071416353111837, 0.3246445817923451, -0.16193328377232252, 0.33967702755324547, 0.36907213179033194, -0.03099212791047879, -0.01475171450761828, 0.06477915431414523, 0.0328443680723837, -0.03258760078082108], "std": [0.0004735552610239317, 0.0005811506385515992, 0.0018228516599656521, 0.0, 0.0, 0.0003164433143929039, 0.0003163877978922215, 0.053074514092599265, 0.12104519933897477, 0.0864751618632597, 0.8571164788028078, 0.33465715028752224, 0.09432587768529646, 0.05357104189483479, 0.011294261740569848, 0.011758560369950986], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7571428571428572, -1.0, -0.8857142857142857, -0.1457142857142857, -0.11714285714285716, -0.4228571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.26857142857142857, 0.3142857142857143, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015970149253731355, -0.007078891257995755, -0.09388059701492536, -0.01205117270788913, 0.0311727078891258, -0.005194029850746254, -0.4626865671641791], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.36451002127805887, 0.4043456775045202, 0.39396357517740693, 0.061754447276678684, 0.0676518498752275, 0.1304577000976505, 0.8865219346219406], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [335]}, "index": {"min": [14643], "max": [14977], "mean": [14810.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [335]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6402962161793428]], [[0.5250902045754826]], [[0.4584070584166284]]], "std": [[[0.15319456321228442]], [[0.16090895056715665]], [[0.15734627153014544]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6223684435077742]], [[0.5874589736040902]], [[0.5533832092285156]]], "std": [[[0.1647938626797721]], [[0.15973349407808557]], [[0.15602863670779346]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5720978567086015]], [[0.5473823541379442]], [[0.5219008071001838]]], "std": [[[0.17812209039526347]], [[0.17090666016962683]], [[0.16649705302044138]]], "count": [100]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [284]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [284]}, "observation.state": {"min": [6.161487042047674, -1.6194584876649152, 0.6999984045205803, 0.0, 0.0, -0.0004900440690107644, 0.9999998807907104, 0.14025819559217467, -0.2080781388319577, 0.235325500822249, -0.991290807723999, -0.32466548681259155, -0.20323781669139862, 0.0003012308734469116, 0.020559053812238725, -0.04000809361029102], "max": [6.161793980393081, -1.6188917166608727, 0.7007009456882648, 0.0, 0.0, 0.00046265465789474547, 1.0, 0.4496217612790545, 0.2764085844509576, 0.5970551738023857, 0.9922069311141968, 0.32464030385017395, 0.15457142889499664, 0.11247695237398148, 0.040105672993328234, -0.020507505046555494], "mean": [6.1616335005869765, -1.619185942224729, 0.7004126410008014, 0.0, 0.0, -8.943104822098486e-06, 0.9999999895062245, 0.39742685590455373, 0.02900680185188388, 0.30819537012322495, 0.417337867155881, 0.01956715403308331, 0.05299175430981206, 0.04089291654010697, 0.035411702511992375, -0.03633599184712225], "std": [9.884993777515388e-05, 0.0001514866318809483, 0.00022624774357617714, 0.0, 0.0, 0.0002707175040643198, 3.3776266766751055e-08, 0.0623972989162455, 0.1353498860960864, 0.08238251365413683, 0.8774776045893499, 0.2018738729704202, 0.09724996314414734, 0.028076803403375282, 0.005596257407396107, 0.004836903561450835], "count": [284]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.19142857142857142, -0.28285714285714286, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9285714285714287, 0.23428571428571432, 0.12285714285714287, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02210764587525149, 0.0018360160965794786, -0.026282696177062404, -0.0023943661971830973, -0.00498993963782696, -0.0015392354124748474, -0.47183098591549294], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3816798547882745, 0.4607730134132896, 0.36212715151268815, 0.046245824930849465, 0.04294482863369584, 0.07213704459793573, 0.8816890158837262], "count": [284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.056338027119636536], "std": [0.23057332634925842], "count": [284]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035211267605633804], "std": [0.05923452056781944], "count": [284]}, "timestamp": {"min": [0.0], "max": [14.15], "mean": [7.075000000000001], "std": [4.099161499624039], "count": [284]}, "frame_index": {"min": [0], "max": [283], "mean": [141.5], "std": [81.98322999248077], "count": [284]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [284]}, "index": {"min": [14978], "max": [15261], "mean": [15119.5], "std": [81.98322999248077], "count": [284]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [284]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5943286727641629]], [[0.4878163454162799]], [[0.4132166962280155]]], "std": [[[0.1874144292595261]], [[0.2231933183128281]], [[0.25184051828631776]]], "count": [101]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.587096654306544]], [[0.6038142398870516]], [[0.5835001799417361]]], "std": [[[0.15754870285756697]], [[0.16245805162697227]], [[0.16607526304417317]]], "count": [101]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6344536477860792]], [[0.6517872944592829]], [[0.6273250407280215]]], "std": [[[0.15404312059537545]], [[0.1476546108078568]], [[0.1509018437870294]]], "count": [101]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [474]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [474]}, "observation.state": {"min": [0.831827481393067, -1.0641275725908232, 0.6999977461797392, 0.0, 0.0, -1.0, 8.596568790153469e-08, 0.23876623530570396, -0.1400202926012155, 0.23154213052052686, -0.9935950040817261, -0.4213908314704895, -0.1408412754535675, 0.0009240240324288607, 0.01281112954795625, -0.04027148445048902], "max": [0.831939134084302, -1.0635703260406726, 0.7004358688374651, 0.0, 0.0, 1.0, 0.0006520638125948608, 0.5008033249561055, 0.29105428094168384, 0.593097447686644, 0.9917011260986328, 0.2496609389781952, 0.11557143926620483, 0.10425974428653717, 0.04001059681728042, -0.01338915578682121], "mean": [0.831895209243137, -1.0637832257815691, 0.7001160520592953, 0.0, 0.0, -0.04641348777441033, 0.000264888286439415, 0.3947918561628364, 0.07076574455034333, 0.31754125718661225, -0.28549619842682206, -0.24511574507388384, 0.017465209131588853, 0.05284488653417339, 0.03469390721624166, -0.03470777407026427], "std": [3.0948949950411596e-05, 0.00015770375726291153, 0.0001453960610747761, 0.0, 0.0, 0.9989222990213178, 0.00015739052806488122, 0.0581738818258462, 0.11304810594185453, 0.08226720583765579, 0.9086957137912105, 0.15416827843628225, 0.07231529182434496, 0.02423472426802938, 0.008151779166142898, 0.008179607866331394], "count": [474]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6500000000000001, -0.18857142857142858, -0.1142857142857143, -0.27714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5857142857142857, 0.942857142857143, 0.7857142857142857, 0.1142857142857143, 0.1457142857142857, 0.2742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0019740807715491575, -0.007956600361663655, -0.0200120554550934, -0.00045207956600361597, 0.010976491862567812, 0.0025316455696202628, -0.4472573839662447], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20282672479036282, 0.3269876010699383, 0.2585382903165875, 0.031526815844711335, 0.04160914129293385, 0.11708637754723865, 0.8944052954268948], "count": [474]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03375527262687683], "std": [0.18059860169887543], "count": [474]}, "next.done": {"min": [false], "max": [true], "mean": [0.002109704641350211], "std": [0.045883044664412544], "count": [474]}, "timestamp": {"min": [0.0], "max": [23.65], "mean": [11.825000000000001], "std": [6.841585464398341], "count": [474]}, "frame_index": {"min": [0], "max": [473], "mean": [236.5], "std": [136.83170928796682], "count": [474]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [474]}, "index": {"min": [15262], "max": [15735], "mean": [15498.5], "std": [136.83170928796682], "count": [474]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [474]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.9333333333333333]], [[0.9372549019607843]]], "mean": [[[0.3292528692507276]], [[0.26171564678117337]], [[0.22210222969803156]]], "std": [[[0.19646307130134075]], [[0.15163719004505194]], [[0.15718752638158162]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4740404417748545]], [[0.4257497414981618]], [[0.4108345941281786]]], "std": [[[0.2566246368659508]], [[0.2588404782845876]], [[0.2641135140336283]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5112583666034773]], [[0.45747822122012866]], [[0.43424048031077667]]], "std": [[[0.2449851146322752]], [[0.25120676760704247]], [[0.25830948227333056]]], "count": [100]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [258]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [258]}, "observation.state": {"min": [2.2771894084874815, -1.5457578957325249, 0.6999993879903479, 0.0, 0.0, -0.7080330848693848, 0.7061792612075806, 0.20811035732944738, -0.21759781701950764, 0.22872761311030054, -0.9965039491653442, -0.16417863965034485, -0.3106064796447754, 0.00015316504868678749, 0.010663008472444028, -0.03984525909378108], "max": [2.2783695206376797, -1.5443697898210196, 0.7022989163038803, 0.0, 0.0, -0.7069151997566223, 0.7072982788085938, 0.37751301032701456, 0.2237754868558226, 0.5995445974808409, 0.9964700937271118, 0.02148311585187912, 0.09994899481534958, 0.04868728294968605, 0.03999756420871632, -0.01218356822035655], "mean": [2.2778721516541474, -1.545207167802811, 0.7009001469493921, 0.0, 0.0, -0.7074921496154726, 0.7067209794077762, 0.34370865009470447, 0.0021280409968357393, 0.30165024865501033, -0.8347226526848105, -0.0355445291240548, -0.10703466847076896, 0.03406762488196737, 0.03341743153426038, -0.033166695040192574], "std": [0.00039263090643459485, 0.0005359323230731198, 0.0008910497156302416, 0.0, 0.0, 0.00038374738776226347, 0.0003841782715454793, 0.04168447173470625, 0.1238253006684432, 0.08558142148320699, 0.5306068071979213, 0.046534565110820075, 0.07434179707151924, 0.011041054467861532, 0.008595483848648632, 0.00861640901763787], "count": [258]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7214285714285715, -1.0, -1.0, -0.14, -0.1657142857142857, -0.10571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 1.0, 0.9714285714285714, 0.09714285714285714, 0.10285714285714286, 0.15714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0012735326688815595, 0.006561461794019965, -0.03336101882613504, -0.0003543743078626808, -0.005703211517165009, 0.009169435215946842, -0.43410852713178294], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19314188735447546, 0.4597992816754057, 0.40724654216949174, 0.02788206626088686, 0.03957814093416726, 0.03129676260084136, 0.900860581150866], "count": [258]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06201550364494324], "std": [0.24118371307849884], "count": [258]}, "next.done": {"min": [false], "max": [true], "mean": [0.003875968992248062], "std": [0.06213650985225348], "count": [258]}, "timestamp": {"min": [0.0], "max": [12.85], "mean": [6.425000000000001], "std": [3.723881263771264], "count": [258]}, "frame_index": {"min": [0], "max": [257], "mean": [128.5], "std": [74.47762527542528], "count": [258]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [258]}, "index": {"min": [15736], "max": [15993], "mean": [15864.5], "std": [74.47762527542528], "count": [258]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [258]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6639696194517847]], [[0.5697812649595971]], [[0.5254492259306066]]], "std": [[[0.20626404972284762]], [[0.2827015166812712]], [[0.3367605518451043]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7318402662090226]], [[0.7004709753896675]], [[0.6746047955681297]]], "std": [[[0.18060795106542812]], [[0.16923434430328582]], [[0.1695804033056639]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.043137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7091121042288986]], [[0.6807196631338082]], [[0.6572637005974266]]], "std": [[[0.17941947186771828]], [[0.16995886535363613]], [[0.17115580419236462]]], "count": [100]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [332]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [332]}, "observation.state": {"min": [4.85040299976609, -1.576184379166001, 0.6999984712804496, 0.0, 0.0, -0.00030032845097593963, 0.9999995231628418, 0.23695314234076026, -0.08631452989262844, 0.23689635339032866, -0.9917248487472534, -0.6018038988113403, -0.14119860529899597, 0.0005881410324946046, 0.018097564434917588, -0.04000427897657512], "max": [4.851092913294078, -1.5753756014933797, 0.701870396888428, 0.0, 0.0, 0.0010026145027950406, 1.0, 0.6259685079162134, 0.17008186842625417, 0.5971916503310134, 0.9918040633201599, 0.046708762645721436, 0.13263879716396332, 0.1366090625524521, 0.04026141157990084, -0.00751131605831718], "mean": [4.8508057438346635, -1.5757189773239026, 0.700700788746394, 0.0, 0.0, 0.0002653397176172123, 0.9999998965895319, 0.4670027549286985, 0.006413942546885886, 0.3295186768944532, 0.5798341635479984, -0.26266000146068724, 0.022913481265978666, 0.044439477625293156, 0.03536168077008487, -0.033553290636041], "std": [0.00023046572545596544, 0.00021266056425835997, 0.0006249654534642058, 0.0, 0.0, 0.0004116673897087649, 1.5866897025258777e-07, 0.09939725455842376, 0.08932313945347152, 0.10037431299949662, 0.7110594470778804, 0.27789694748263, 0.09197512898630844, 0.03178823333345088, 0.007045150838260623, 0.009025221967254643], "count": [332]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4785714285714286, -0.18857142857142858, -0.1142857142857143, -0.46857142857142864, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 1.0, 1.0, 0.14285714285714285, 0.05428571428571429, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0004733218588640429, -0.00970309810671256, -0.03683304647160071, -0.00444061962134251, -0.0013597246127366616, -0.032418244406196214, -0.43373493975903615], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3068706871016965, 0.38352199910709917, 0.315713646948581, 0.04375087173851673, 0.02052591495832074, 0.11873536203572194, 0.9010405107608768], "count": [332]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048192769289016724], "std": [0.21417337656021118], "count": [332]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030120481927710845], "std": [0.05479941385138629], "count": [332]}, "timestamp": {"min": [0.0], "max": [16.55], "mean": [8.275], "std": [4.791985496639154], "count": [332]}, "frame_index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [332]}, "index": {"min": [15994], "max": [16325], "mean": [16159.5], "std": [95.83970993278308], "count": [332]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [332]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6392552855248544]], [[0.5768729343788297]], [[0.5299308998257506]]], "std": [[[0.23636662852764787]], [[0.2873331807961048]], [[0.34436504897856096]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09019607843137255]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6075703083113129]], [[0.5988019492953431]], [[0.5953687229530484]]], "std": [[[0.2154075622070005]], [[0.21991833308448516]], [[0.22140018902166553]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6555092450310203]], [[0.6479161987304687]], [[0.6443428613999311]]], "std": [[[0.1922036030487663]], [[0.1977368435515504]], [[0.20179461916441835]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [247]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [247]}, "observation.state": {"min": [1.7354239736644659, -1.7963714726091808, 0.6999982383725769, 0.0, 0.0, -0.7070729732513428, 0.7071405649185181, 0.1191335918820271, -0.25851680917913167, 0.2293932901037079, -0.9996150732040405, -0.1213904544711113, -0.1406053751707077, 0.0005341612850315869, 0.014544198626182241, -0.04034812720111457], "max": [1.7361781668586616, -1.7960717572915674, 0.7006187764584886, 0.0, 0.0, -0.7064313888549805, 0.7077815532684326, 0.5010916755123205, 0.03474332892045218, 0.5904205590863163, 0.9943257570266724, 0.11478102952241898, 0.10553046315908432, 0.04440835118293762, 0.03991427808658194, -0.01817948537210121], "mean": [1.7358365303602068, -1.7962898387576103, 0.7002173613177731, 0.0, 0.0, -0.7067047244141459, 0.7075085442075845, 0.37734514284705467, -0.12884322907930512, 0.32760759818687013, -0.15776570967817113, -0.0566308524927147, -0.02838629237562913, 0.015277469568642663, 0.03407003707670618, -0.0348697711182619], "std": [0.0002305732973254276, 9.614882717613759e-05, 0.0001929260603927456, 0.0, 0.0, 0.00019439501288021186, 0.00019423298336090835, 0.09512601629474879, 0.0879187864004181, 0.08875014824424943, 0.9811962012331498, 0.05695807663479844, 0.06913243393613931, 0.0097079231219653, 0.007500526665708686, 0.006782991575572111], "count": [247]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9714285714285714, -0.8642857142857142, -0.07142857142857142, -0.19714285714285715, -0.20285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9785714285714284, 1.0, 1.0, 0.04, 0.12571428571428572, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0248987854251012, 0.005002891844997076, -0.0054077501445922065, -0.003053788316946211, 0.007426257952573736, -0.003262001156737997, -0.3117408906882591], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3401685419766503, 0.44823868541503814, 0.43721839418448055, 0.01605352317600492, 0.04484472272199685, 0.04476458586790053, 0.9501671521752862], "count": [247]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06477732956409454], "std": [0.24613253772258759], "count": [247]}, "next.done": {"min": [false], "max": [true], "mean": [0.004048582995951417], "std": [0.06349954308242155], "count": [247]}, "timestamp": {"min": [0.0], "max": [12.3], "mean": [6.1499999999999995], "std": [3.5651086939951773], "count": [247]}, "frame_index": {"min": [0], "max": [246], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [247]}, "index": {"min": [16326], "max": [16572], "mean": [16449.0], "std": [71.30217387990355], "count": [247]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [247]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.03137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6781432806276808]], [[0.5973496991325827]], [[0.5280205742331112]]], "std": [[[0.19908147387448782]], [[0.19994448200023354]], [[0.19712698080057645]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299131104712392]], [[0.4271411797018612]], [[0.3689769412769991]]], "std": [[[0.19677012618045034]], [[0.20683387480350302]], [[0.22536245215909328]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5551038339652268]], [[0.44461156568340227]], [[0.3766765423943015]]], "std": [[[0.19811804896493201]], [[0.21642221588047988]], [[0.23611122368308596]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [427]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [427]}, "observation.state": {"min": [0.8392250533950947, -0.8804875364343373, 0.6999984267842215, 0.0, 0.0, -1.0, 0.0, 0.15270898411514655, -0.20886178132575972, 0.2301832851704717, -0.9954110980033875, -0.467139333486557, -0.16872695088386536, 6.223848322406411e-05, 0.018438983226190284, -0.04000773320699992], "max": [0.8394072319849961, -0.8797757157178486, 0.7005170986899618, 0.0, 0.0, 1.0, 0.0006435232935473323, 0.5263874374320493, 0.2232466254126395, 0.6178931859840611, 0.9965527653694153, 0.3101848065853119, 0.047047361731529236, 0.050079576671123505, 0.040388641462569985, -0.01830627705190898], "mean": [0.8392822191289859, -0.8801011540255362, 0.7002115845108478, 0.0, 0.0, 0.11943794441446487, 0.0003290811003732755, 0.42342068966666163, -0.021968327698606693, 0.31683713725553, -0.1815999127941891, -0.22696850916471079, -0.036112858342940306, 0.016678609314649442, 0.03621781998105423, -0.035775703170149144], "std": [5.4664286154794566e-05, 0.00020435487233925372, 0.0001608409469501919, 0.0, 0.0, 0.9928416411443013, 0.00014515227169815687, 0.08476357661552283, 0.12575509124484244, 0.0825645042469649, 0.9368191742156147, 0.17998779266626055, 0.06132040533034083, 0.011768413707909289, 0.0071564762525881875, 0.007252843907235383], "count": [427]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7000000000000001, -0.8571428571428572, -0.7000000000000001, -0.03142857142857143, -0.08857142857142856, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 0.8428571428571429, 0.46428571428571436, 0.15428571428571428, 0.21142857142857144, 0.2571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01525593844095015, -0.021997323519571732, -0.02857142857142856, 0.004396119103379057, 0.009354299096687854, 0.0022348611575777996, -0.5409836065573771], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21458719780414892, 0.30002495012071023, 0.22322654700348807, 0.01885409730983682, 0.045032754562134604, 0.10280794562723654, 0.8410331369429961], "count": [427]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03747072443366051], "std": [0.18991227447986603], "count": [427]}, "next.done": {"min": [false], "max": [true], "mean": [0.00234192037470726], "std": [0.04833669189824425], "count": [427]}, "timestamp": {"min": [0.0], "max": [21.3], "mean": [10.65], "std": [6.163197222221596], "count": [427]}, "frame_index": {"min": [0], "max": [426], "mean": [213.0], "std": [123.26394444443193], "count": [427]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [427]}, "index": {"min": [16573], "max": [16999], "mean": [16786.0], "std": [123.26394444443193], "count": [427]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [427]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40003258379767925]], [[0.34904714427274813]], [[0.3056155730602788]]], "std": [[[0.2836730222157095]], [[0.22346739615086417]], [[0.1771436559265577]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34716901472503064]], [[0.3256743935977711]], [[0.31603176999559585]]], "std": [[[0.22850893852882975]], [[0.22384200230034443]], [[0.22774193305824075]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3255993024040671]], [[0.30952442722694545]], [[0.30292722096162683]]], "std": [[[0.2389473121365656]], [[0.22895998265733467]], [[0.2275600201179313]]], "count": [100]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [325]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [325]}, "observation.state": {"min": [3.7539716481361918, -2.6340824881264644, 0.6999988874044535, 0.0, 0.0, -0.7081874012947083, 0.7060244679450989, 0.09662908874198228, -0.10581435549860263, 0.22911351284023962, -0.999200165271759, -0.16955627501010895, -0.18668033182621002, 0.00014079200627747923, 0.010824455973858685, -0.03993545627561512], "max": [3.755276018687834, -2.633278930550146, 0.7016374971968704, 0.0, 0.0, -0.7070602774620056, 0.7071532607078552, 0.5601381832080414, 0.11029529582947584, 0.6057729852364534, 0.9944782257080078, 0.2459632158279419, 0.09652084857225418, 0.049445319920778275, 0.04016072361082269, -0.003936047351616714], "mean": [3.754556604414087, -2.6336359044587976, 0.7008583161321296, 0.0, 0.0, -0.7076585980562063, 0.7065542620878953, 0.4020904514914758, -0.02892183358022591, 0.3125551530539093, -0.5544674805494455, 0.059726860523223874, -0.02563115449120792, 0.015045850445167161, 0.032241997102578565, -0.030437005004897596], "std": [0.0005035291529765792, 0.00032557184500144385, 0.0006504099748108167, 0.0, 0.0, 0.00042251948988110215, 0.0004230842781491205, 0.09992823192794502, 0.06707820376645979, 0.10497602023623276, 0.8155451392557852, 0.13011270078037765, 0.07689050956569224, 0.0126431130567774, 0.010825300213136444, 0.012410547407902945], "count": [325]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.6214285714285714, -0.7000000000000001, -0.028571428571428574, -0.18285714285714286, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.8714285714285716, 0.95, 0.045714285714285714, 0.09428571428571429, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03837362637362634, -0.0010329670329670207, -0.028901098901098942, 0.0023912087912087913, -0.0021450549450549397, -0.0008967032967032943, -0.36615384615384616], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32345513781730684, 0.26935127691017735, 0.30999121567852594, 0.00854994659427083, 0.0540524339439387, 0.06532382568889024, 0.9305543299274626], "count": [325]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04923076927661896], "std": [0.2163494974374771], "count": [325]}, "next.done": {"min": [false], "max": [true], "mean": [0.003076923076923077], "std": [0.055384615384615386], "count": [325]}, "timestamp": {"min": [0.0], "max": [16.2], "mean": [8.1], "std": [4.690948731333567], "count": [325]}, "frame_index": {"min": [0], "max": [324], "mean": [162.0], "std": [93.81897462667133], "count": [325]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [325]}, "index": {"min": [17000], "max": [17324], "mean": [17162.0], "std": [93.81897462667133], "count": [325]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [325]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09803921568627451]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6250065181956571]], [[0.5028511687634039]], [[0.3961982421875]]], "std": [[[0.19315242336297284]], [[0.21171792723377525]], [[0.22624990056002356]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4633593773935355]], [[0.44898292990291816]], [[0.41844101789885874]]], "std": [[[0.21994525711522003]], [[0.220155595743813]], [[0.22778271955248194]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4961166393803615]], [[0.4760795934340533]], [[0.4391356835458793]]], "std": [[[0.2249393072816467]], [[0.2202802482529187]], [[0.22540220555500895]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [280]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [280]}, "observation.state": {"min": [2.3153445318815535, -1.4880564267273189, 0.6999990645735996, 0.0, 0.0, -1.0, 7.077397157218002e-08, 0.08800904015839484, -0.0595598417702945, 0.2281422466007219, -0.9960010647773743, -0.3953111469745636, -0.1668250411748886, 0.006448895670473576, 0.0045035652200765075, -0.03980396267240381], "max": [2.3160281468476125, -1.4872948673747302, 0.7016569420577626, 0.0, 0.0, 1.0, 0.0008574829553253949, 0.5378966510163146, 0.13960971688779744, 0.6095595287063689, -0.9149805903434753, 0.010546952486038208, -0.0019069121917709708, 0.08690778911113739, 0.040006109316825564, -0.006943682818995868], "mean": [2.3155904139854306, -1.4876627479836546, 0.7006393730806127, 0.0, 0.0, 0.928571326817785, 0.000446795793105359, 0.3982365244828932, 0.044353283331958794, 0.3130847876835721, -0.9689216190150806, -0.2009586561737316, -0.028218383463847984, 0.04637980923622048, 0.03025584867130496, -0.03044397300740907], "std": [0.00026403422630948137, 0.0002445345501719753, 0.0006528697334291373, 0.0, 0.0, 0.3711537248965637, 0.0002632680318342256, 0.10061981155084104, 0.07553261344005698, 0.09725968562281677, 0.029743545780066567, 0.1221995516538591, 0.03468040234039008, 0.028965668360405872, 0.0127048048140976, 0.012054936946845405], "count": [280]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7928571428571428, -0.95, -0.12571428571428572, -0.15142857142857147, -0.1742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7357142857142858, 1.0, 0.8857142857142857, 0.028571428571428574, 0.14857142857142858, 0.4257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04727040816326528, -0.010867346938775523, -0.043622448979591784, -0.0027244897959183673, 0.005204081632653062, 0.0008163265306122583, -0.39285714285714285], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.36917638187173285, 0.3348969292911577, 0.352080133119497, 0.015251436321569483, 0.03492310229231194, 0.09209817661483159, 0.9195995135416939], "count": [280]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05714285746216774], "std": [0.23211537301540375], "count": [280]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035714285714285713], "std": [0.059654618173178804], "count": [280]}, "timestamp": {"min": [0.0], "max": [13.95], "mean": [6.975], "std": [4.041426109679602], "count": [280]}, "frame_index": {"min": [0], "max": [279], "mean": [139.5], "std": [80.82852219359204], "count": [280]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [280]}, "index": {"min": [17325], "max": [17604], "mean": [17464.5], "std": [80.82852219359204], "count": [280]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [280]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5083739330815334]], [[0.47215856215533086]], [[0.42577373070810354]]], "std": [[[0.18487907523487448]], [[0.2072640217010131]], [[0.2415239393466065]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6107217137953814]], [[0.5865850758272059]], [[0.5623740473728553]]], "std": [[[0.282337615208166]], [[0.2652526192586335]], [[0.2437128249183345]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6436466088388481]], [[0.6241808076746324]], [[0.6015928841385186]]], "std": [[[0.2315928007846782]], [[0.21719849673273256]], [[0.20199020016787794]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [366]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [366]}, "observation.state": {"min": [3.71765679089577, -2.966555543237656, 0.6999990691745619, 0.0, 0.0, -0.0005838391371071339, 0.9999998807907104, 0.16255058101457065, -0.19676578146622914, 0.24661128358870632, -0.9994366765022278, -0.38412025570869446, -0.1607089340686798, 0.013764284551143646, 0.017958478515106856, -0.03994861233378401], "max": [3.717825144754437, -2.966274276865164, 0.7003404683838901, 0.0, 0.0, -7.184071728261188e-05, 1.0, 0.5670313977225123, 0.09684162655894779, 0.5822959607745359, -0.9081070423126221, 0.008505869656801224, 0.025103570893406868, 0.08988409489393234, 0.04021732355178175, -0.019720802187485245], "mean": [3.717734166896388, -2.9663940934812048, 0.7001655729112513, 0.0, 0.0, -0.00027279001884490043, 0.9999999723147824, 0.4184946845094419, -0.04573897496995487, 0.32723456757341834, -0.9760288325815253, -0.13771707205295236, -0.07873217220000443, 0.04177353295746967, 0.035559585186982684, -0.035464562885719614], "std": [4.911001289624668e-05, 9.089555450605792e-05, 0.00012964026790121552, 0.0, 0.0, 0.00016878907659425055, 5.033749936578597e-08, 0.10258471350693762, 0.09747231820310083, 0.07612063905395226, 0.03236260754906311, 0.1279374559000569, 0.048940353879428106, 0.025445068428430494, 0.007279169877467626, 0.006610091779363651], "count": [366]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8428571428571429, -0.8285714285714285, -0.5857142857142857, -0.07428571428571429, -0.12571428571428572, -0.18285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 0.8500000000000001, 0.5857142857142857, 0.02, 0.1657142857142857, 0.2, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01414910226385635, 0.0030444964871194297, -0.015905542544886814, -0.0016783762685402027, 0.007369242779078843, -0.0027712724434035864, -0.3989071038251366], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2723905633619079, 0.31159238850940113, 0.2305154260755847, 0.010156248030439807, 0.040532642504716256, 0.06499670482574241, 0.9169913426624249], "count": [366]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04371584579348564], "std": [0.20446215569972992], "count": [366]}, "next.done": {"min": [false], "max": [true], "mean": [0.00273224043715847], "std": [0.05219938025831366], "count": [366]}, "timestamp": {"min": [0.0], "max": [18.25], "mean": [9.125], "std": [5.282735244801377], "count": [366]}, "frame_index": {"min": [0], "max": [365], "mean": [182.5], "std": [105.65470489602754], "count": [366]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [366]}, "index": {"min": [17605], "max": [17970], "mean": [17787.5], "std": [105.65470489602754], "count": [366]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [366]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.06666666666666667]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6905402664483763]], [[0.6329531938141468]], [[0.5706499155081954]]], "std": [[[0.16742668382495682]], [[0.1679174666880815]], [[0.19914081885121734]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5876507364908854]], [[0.5885435892740886]], [[0.5903407395306756]]], "std": [[[0.30008538705336846]], [[0.28722725039050123]], [[0.2685456211828339]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5592877771714154]], [[0.5578081694958257]], [[0.5567850102443321]]], "std": [[[0.3000154444774313]], [[0.28850086058235425]], [[0.27348173289777816]]], "count": [100]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [4.940147908847207, -1.3898189600450304, 0.7000000378715541, 0.0, 0.0, -0.0006862797890789807, 0.9999997615814209, 0.06594777706389099, -0.11050787812448348, 0.22824189301358633, -0.9986621737480164, -0.3006432354450226, -0.24952949583530426, 6.0573365772143006e-05, 0.020531181062572516, -0.03995583970183706], "max": [4.941016948689296, -1.3887950083449456, 0.7018971353297244, 0.0, 0.0, -2.4988512450363487e-05, 1.0, 0.36454354616266116, 0.300818954944551, 0.610987975637343, 0.9919629096984863, 0.294195294380188, 0.16284990310668945, 0.043996796011924744, 0.04079612355634524, -0.007967240240824968], "mean": [4.9406494371387115, -1.3891741618064524, 0.7008000559149711, 0.0, 0.0, -0.00025594434739023954, 0.9999999620352581, 0.29716911029790366, 0.08891918790252785, 0.32359990169927144, -0.3334704806470567, -0.042385654120593315, -0.02595301130252659, 0.01783379999588256, 0.03795987252378921, -0.03513931921650517], "std": [0.00037352799096033827, 0.0003857030165314142, 0.0007540389871464456, 0.0, 0.0, 0.0002230973572738787, 6.527727980356096e-08, 0.05542303693368564, 0.11267391060860572, 0.0994964780211553, 0.9231083317311022, 0.1655400843219927, 0.07986633672641949, 0.00990685559161582, 0.003811138608870255, 0.008080915274371523], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7785714285714286, -0.0, -0.34, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 1.0, 0.7928571428571428, 0.04285714285714286, 0.1142857142857143, 0.19428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.040627843494085526, -0.0123066424021838, -0.02240673339399451, 0.0008553230209281166, -0.004203821656050958, -0.005022747952684262, -0.46496815286624205], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.258108909102851, 0.4250153679530956, 0.32789301512599234, 0.004344037100284528, 0.05889140985882121, 0.05928987566559739, 0.8853274065678512], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05095541477203369], "std": [0.21990668773651123], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [314]}, "index": {"min": [17971], "max": [18284], "mean": [18127.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [314]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6218365903368183]], [[0.5774305461808746]], [[0.5432504015155867]]], "std": [[[0.20713260329410496]], [[0.21050118960865533]], [[0.21758121965344493]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6134066443349802]], [[0.569510430429496]], [[0.5116914421530331]]], "std": [[[0.22645053255884814]], [[0.21944641065239284]], [[0.22590072579253354]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.625039545994179]], [[0.5866008181104473]], [[0.5358159532733991]]], "std": [[[0.20560935598786229]], [[0.19737211634685953]], [[0.20397733341092544]]], "count": [100]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [389]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [389]}, "observation.state": {"min": [3.816976140684466, -0.8185536858500773, 0.6999964534971721, 0.0, 0.0, 0.7053825259208679, 0.7069033980369568, 0.016863491843881473, -0.06079172081591544, 0.24771955808174773, -0.9894986748695374, -0.7248556613922119, -0.16699564456939697, 0.004253892693668604, 0.013177927919902598, -0.04042161427993559], "max": [3.818587372105087, -0.8182130196557332, 0.7009860071028564, 0.0, 0.0, 0.7073100209236145, 0.7088267803192139, 0.48323162527631736, 0.3302558079648996, 0.5988175455590933, 0.7373066544532776, 0.8105484843254089, 0.12275829166173935, 0.13075193762779236, 0.040432446658654565, -0.015162476009240105], "mean": [3.817683153472643, -0.8183436883720151, 0.7002966561550533, 0.0, 0.0, 0.7063769826852264, 0.7078351914729435, 0.3761877640380898, 0.17908526040397352, 0.33641095722052156, -0.14556971720987236, 0.3685744608582445, -0.008650739391898176, 0.06847273765112678, 0.03384681405043953, -0.034164911554174206], "std": [0.0004933423214653679, 0.00011009552438010383, 0.0004231432017515666, 0.0, 0.0, 0.0006664155473120589, 0.0006651033658339546, 0.08836852420733549, 0.11218407751401105, 0.08536274612609324, 0.7818675061524193, 0.45896055183699447, 0.12409819769742446, 0.02893122322895259, 0.00902845552876102, 0.00887911663546353], "count": [389]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5571428571428572, -0.05142857142857143, -0.35428571428571426, -0.18285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 0.8785714285714286, 0.11142857142857143, 0.22, 0.7285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.043022401762761675, -0.018949687844289343, -0.01591994124127799, 0.0013587954461990453, -0.001858244583180315, 0.03670216672787367, -0.532133676092545], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3374463627182708, 0.4081533145851497, 0.2851901724085166, 0.013447317374665079, 0.06410088129573467, 0.15097888075246635, 0.84666035148], "count": [389]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04113110527396202], "std": [0.198593407869339], "count": [389]}, "next.done": {"min": [false], "max": [true], "mean": [0.002570694087403599], "std": [0.05063680103751211], "count": [389]}, "timestamp": {"min": [0.0], "max": [19.4], "mean": [9.700000000000001], "std": [5.614712815451918], "count": [389]}, "frame_index": {"min": [0], "max": [388], "mean": [194.0], "std": [112.29425630903836], "count": [389]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [389]}, "index": {"min": [18285], "max": [18673], "mean": [18479.0], "std": [112.29425630903836], "count": [389]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [389]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6492878824869792]], [[0.5310500494265089]], [[0.4365826086904488]]], "std": [[[0.21052112571881296]], [[0.24083642843343506]], [[0.2640079219513852]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6702109297210095]], [[0.6088174438476563]], [[0.5576958564309512]]], "std": [[[0.15236858418288568]], [[0.18277038141997612]], [[0.20082226784078347]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6079389187681908]], [[0.5512849976782705]], [[0.5061156364889706]]], "std": [[[0.19786095681955707]], [[0.21571066449862622]], [[0.22707197665204762]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [334]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [334]}, "observation.state": {"min": [4.446115221429989, -2.1286708194630632, 0.6999993771595435, 0.0, 0.0, -0.7080106735229492, 0.7062017917633057, 0.12436825233942805, -0.05434017173376926, 0.22911269892116481, -0.9995656609535217, -0.2958669364452362, -0.142184779047966, 0.002160503761842847, 0.020294840946156058, -0.040575620937158906], "max": [4.447119687718052, -2.1277713258769833, 0.7019083532980981, 0.0, 0.0, -0.7071067690849304, 0.7071067690849304, 0.45697027771409404, 0.21480679984956552, 0.6006474829167158, -0.953738272190094, 0.039697419852018356, 0.0002906650479417294, 0.060288041830062866, 0.04039389573617631, -0.012566672689967444], "mean": [4.446460794020242, -2.1282852533424506, 0.7009981695626559, 0.0, 0.0, -0.7076317282493957, 0.7065813416492439, 0.3546861279011541, 0.06598864715699779, 0.3163750677295984, -0.9860373266085893, -0.08749820453722677, -0.04203302720730234, 0.030672605277713903, 0.03649855630703697, -0.03606632113985386], "std": [0.00030798286139702597, 0.0002676692826777442, 0.0005979721566423185, 0.0, 0.0, 0.00025831670797546197, 0.0002586243116246703, 0.07811886757211368, 0.09215949085964456, 0.08576246490764838, 0.01720625557718955, 0.1265712204631462, 0.029314253199025864, 0.013828113139258988, 0.00623276988910293, 0.007273055853453679], "count": [334]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.807142857142857, -0.09714285714285714, -0.07142857142857142, -0.26, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8214285714285715, 1.0, 1.0, 0.045714285714285714, 0.12285714285714287, 0.2257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.022519247219846036, -0.007249786142001709, -0.0456586826347305, -0.001668092386655261, 0.004987168520102655, 0.00013686911890503991, -0.4311377245508982], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2727364858740786, 0.41895340413669824, 0.3092872848194239, 0.011974914403159153, 0.021629436823370405, 0.07462664961836668, 0.9022861311519047], "count": [334]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04790419340133667], "std": [0.21356353163719177], "count": [334]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029940119760479044], "std": [0.05463559158950497], "count": [334]}, "timestamp": {"min": [0.0], "max": [16.65], "mean": [8.325000000000001], "std": [4.820853140264698], "count": [334]}, "frame_index": {"min": [0], "max": [333], "mean": [166.5], "std": [96.41706280529397], "count": [334]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [334]}, "index": {"min": [18674], "max": [19007], "mean": [18840.5], "std": [96.41706280529397], "count": [334]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [334]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6645924461215149]], [[0.6074818881165748]], [[0.5251493584127986]]], "std": [[[0.17306719403401677]], [[0.16017601935726558]], [[0.1824444997459648]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7458589926326976]], [[0.6808513123755361]], [[0.6077740089566099]]], "std": [[[0.1901274111581265]], [[0.19716667819778913]], [[0.21411982925596384]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7170466063256357]], [[0.6572330005122166]], [[0.590940943699257]]], "std": [[[0.23706840687329495]], [[0.23247655072692863]], [[0.2349606534466236]]], "count": [100]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [249]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [249]}, "observation.state": {"min": [1.1207871378241154, -0.7576015599698882, 0.6999981279433058, 0.0, 0.0, 0.7057920098304749, 0.7070896625518799, 0.18312602681407142, -0.11368436877882448, 0.2293000553426191, -0.9979307651519775, -0.19314123690128326, -0.17935246229171753, 3.8623209547949955e-05, 0.02056111321751291, -0.04030374609714712], "max": [1.1223685858179069, -0.7570718081341492, 0.701259145550397, 0.0, 0.0, 0.7071238160133362, 0.708419144153595, 0.48730195073910726, 0.195733708194485, 0.6066456670892149, 0.9969492554664612, 0.10093384981155396, 0.14173045754432678, 0.07365093380212784, 0.03985396076449504, -0.005900276401692787], "mean": [1.1212600332925173, -0.7572339751594911, 0.7003789563653469, 0.0, 0.0, 0.7067154782364168, 0.7074975589193014, 0.3518884286694462, 0.007794872775776184, 0.30653552713799936, -0.5428233790589145, -0.044859713010759236, -0.049070703348212216, 0.014127479566137979, 0.03600887890477695, -0.03270536467959145], "std": [0.0005510200487231321, 0.00018879711831468456, 0.0004545622860767995, 0.0, 0.0, 0.00045904538458079873, 0.0004582457163946547, 0.07306131467067821, 0.09897012992941495, 0.09165768994503878, 0.8267757144773686, 0.07241813916688881, 0.10814747791979627, 0.014983930395383259, 0.004615973677139671, 0.009098934538551125], "count": [249]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.10857142857142858, -0.32285714285714284, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 1.0, 0.8500000000000001, 0.13714285714285715, 0.3742857142857143, 0.19142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0024956970740103155, -0.02059667240390133, -0.02180149168100989, -0.00013769363166953638, 0.01337923121055651, -0.008204245553643144, -0.3333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3009930162618093, 0.5001859383983813, 0.40866624274612817, 0.026444915438567175, 0.09630531179880257, 0.07865392582410413, 0.9428090415820636], "count": [249]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06425702571868896], "std": [0.24521024525165558], "count": [249]}, "next.done": {"min": [false], "max": [true], "mean": [0.004016064257028112], "std": [0.06324504316475349], "count": [249]}, "timestamp": {"min": [0.0], "max": [12.4], "mean": [6.2], "std": [3.593976442141304], "count": [249]}, "frame_index": {"min": [0], "max": [248], "mean": [124.0], "std": [71.87952884282609], "count": [249]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [249]}, "index": {"min": [19008], "max": [19256], "mean": [19132.0], "std": [71.87952884282609], "count": [249]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [249]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5830217219334022]], [[0.5241451990464154]], [[0.47893164960075824]]], "std": [[[0.16614226522310788]], [[0.18420966861454788]], [[0.2062114749004152]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.047058823529411764]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6300234793868719]], [[0.5850527672861137]], [[0.5435777833228018]]], "std": [[[0.16957898807609517]], [[0.16345914066124564]], [[0.16844560737818354]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.054901960784313725]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6401504283231847]], [[0.599983507343367]], [[0.5607090328440947]]], "std": [[[0.166987750643714]], [[0.16579731035525955]], [[0.17549782797419988]]], "count": [100]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [293]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [293]}, "observation.state": {"min": [4.487971284387699, -1.5582048511199529, 0.6999987083135223, 0.0, 0.0, -0.0014037979999557137, 0.9999990463256836, 0.1592867633232924, -0.062187674912390634, 0.22850701442641075, -0.9928099513053894, -0.5580708384513855, -0.1271338015794754, 0.0006042210734449327, 0.0021774163086736627, -0.04047263662199412], "max": [4.488977708585867, -1.5570257648808532, 0.7017522269941538, 0.0, 0.0, 0.0001719878928270191, 1.0, 0.46187079674897014, 0.38824007453122156, 0.59206705809378, 0.9539331793785095, 0.5493711233139038, 0.035914260894060135, 0.07335858047008514, 0.0400356964661711, -0.007707575569982406], "mean": [4.488336577680906, -1.5576345455827283, 0.7010102740497546, 0.0, 0.0, -0.0005781009817931034, 0.999999702180205, 0.3949679128609397, 0.15489962224448794, 0.3202231196308236, -0.7261404726692434, -0.26155366341713754, -0.07454903464471928, 0.024116972787345446, 0.03293936507010836, -0.03249985910552315], "std": [0.00042624553765115196, 0.0004079040812635068, 0.0007033202384148294, 0.0, 0.0, 0.0005472790629349662, 3.429686861831376e-07, 0.06948225445439907, 0.12763930648410451, 0.0986775626595297, 0.5558100058742742, 0.2949526796505098, 0.04520206411924515, 0.014332988693151817, 0.01102453026704573, 0.011191826929675052], "count": [293]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7000000000000001, -0.12, -0.045714285714285714, -0.2914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 1.0, 0.8500000000000001, 0.017142857142857144, 0.11142857142857143, 0.6285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.022452462213554368, 0.014748902974158961, -0.03247196489517315, -0.005743539736713797, 0.0025743539736713806, 0.016587030716723534, -0.5017064846416383], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2858927951378395, 0.46063613946075543, 0.3213645388265531, 0.01899983634047212, 0.015230695346452282, 0.13219309058908063, 0.8650379201332911], "count": [293]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05460750684142113], "std": [0.22721253335475922], "count": [293]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034129692832764505], "std": [0.058320844677935364], "count": [293]}, "timestamp": {"min": [0.0], "max": [14.6], "mean": [7.299999999999999], "std": [4.2290660907581], "count": [293]}, "frame_index": {"min": [0], "max": [292], "mean": [146.0], "std": [84.581321815162], "count": [293]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [293]}, "index": {"min": [19257], "max": [19549], "mean": [19403.0], "std": [84.581321815162], "count": [293]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [293]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2969660381242341]], [[0.26258571908988204]], [[0.21938593307195925]]], "std": [[[0.19673500832806315]], [[0.16428355209107406]], [[0.132903802547207]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3225784529143689]], [[0.3013917062796798]], [[0.28954896814682907]]], "std": [[[0.21171366223277022]], [[0.19476004518748452]], [[0.19000923289371552]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37140782733992034]], [[0.33805972050685507]], [[0.3162030071183747]]], "std": [[[0.22670803253070876]], [[0.20754796504205056]], [[0.20172909611425766]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [381]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [381]}, "observation.state": {"min": [2.580100763272947, -3.3329447540287997, 0.6999978022847981, 0.0, 0.0, -0.0011645854683592916, 0.999998927116394, 0.11866979572422665, -0.1709266022304674, 0.2353386509823533, -0.994269073009491, -0.9425716996192932, -0.14520861208438873, 0.00035686264163814485, 0.0020254226814042852, -0.040811616540050076], "max": [2.580977145957631, -3.33167690407948, 0.7015770201538473, 0.0, 0.0, 0.0014690576354041696, 1.0, 0.37000856011098104, 0.08576896305661652, 0.5911228916591048, 0.9978803992271423, 0.9428970217704773, 0.13437601923942566, 0.14344654977321625, 0.0400268661539178, -0.015683339640439983], "mean": [2.5806856234586015, -3.3326603521858758, 0.700534968347577, 0.0, 0.0, -0.00031769461601926477, 0.9999998432444775, 0.30229654915012627, -0.078926723855384, 0.3069456946269361, 0.19867026047130895, -0.18240374037287055, 0.006291531945463866, 0.03357038727258405, 0.03588443971328489, -0.03640165072818929], "std": [0.000309070412622311, 0.00019771929675204206, 0.0005814827819768496, 0.0, 0.0, 0.0005082670141068504, 2.2123223682825355e-07, 0.05600512877882696, 0.093113039885362, 0.061681878136456425, 0.7884193195995535, 0.5427081539301712, 0.09248717206216851, 0.03743532807400184, 0.007939377108201352, 0.006835635115916011], "count": [381]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6571428571428571, -1.0, -1.0, -0.1142857142857143, -0.16285714285714287, -0.7942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 1.0, 0.7714285714285714, 0.005714285714285714, 0.12857142857142856, 0.5171428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020191226096737947, -0.016516685414323194, -0.04373828271466059, -0.005954255718035248, 0.003187101612298462, -0.0026171728533933136, -0.49606299212598426], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19744015249074268, 0.36885189580329203, 0.23325924980146223, 0.01576061774965794, 0.047927069471357, 0.2303582815125061, 0.8682865355647373], "count": [381]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04199475049972534], "std": [0.20057716965675354], "count": [381]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026246719160104987], "std": [0.05116427477590007], "count": [381]}, "timestamp": {"min": [0.0], "max": [19.0], "mean": [9.5], "std": [5.499242372060597], "count": [381]}, "frame_index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [381]}, "index": {"min": [19550], "max": [19930], "mean": [19740.0], "std": [109.98484744121194], "count": [381]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [381]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5834008250517004]], [[0.49184854664522054]], [[0.4342991165460325]]], "std": [[[0.21850239228524226]], [[0.21601850813888757]], [[0.2127835849811764]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5599792815563726]], [[0.4276073111739813]], [[0.35233468388576134]]], "std": [[[0.18989917572078588]], [[0.20397379893138173]], [[0.2243650947336162]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5897890948127297]], [[0.45906684426700367]], [[0.3790392360313266]]], "std": [[[0.19430270692409812]], [[0.22386360148916568]], [[0.24501842121370193]]], "count": [100]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [3.790552132651757, -3.089302038867233, 0.7000000205564552, 0.0, 0.0, -0.0010333505924791098, 0.9999991655349731, 0.028553731257019432, -0.3721067392010049, 0.2402798641296766, -0.9966630935668945, -0.5261557698249817, -0.33017584681510925, 0.0007121465750969946, 0.01876976154252552, -0.040194710025149474], "max": [3.791459280340174, -3.087655426935062, 0.7026147862613192, 0.0, 0.0, 0.0012785808648914099, 1.0, 0.4317483712219943, 0.3128854480716847, 0.5709037031202381, 0.969352126121521, 0.6077603101730347, 0.2532297372817993, 0.1264960616827011, 0.040784464526507844, -0.017743470607329868], "mean": [3.7910557543319094, -3.088745975396017, 0.7013364468789839, 0.0, 0.0, -0.0001789773634957719, 0.9999997365246912, 0.31699115225741287, 0.00564560571464195, 0.3367024586249752, -0.3094261637918509, 0.07294624493380261, -0.060181815581597166, 0.03944711716327324, 0.03752858000015137, -0.035978122728183806], "std": [0.00027211473755580495, 0.0005267067804630886, 0.0008022363983647818, 0.0, 0.0, 0.0007400690055049192, 2.3012396490873933e-07, 0.07136311443198515, 0.18606213000571256, 0.08395954522607393, 0.8570847098228422, 0.36970692179651704, 0.14732072005064778, 0.02784900944611638, 0.005809253577556284, 0.006307900917009343], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8285714285714285, -0.19142857142857142, -0.5085714285714286, -0.44285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9714285714285714, 0.21142857142857144, 0.6171428571428571, 0.39714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05916742493175617, -0.016696997270245702, -0.03152866242038209, 0.011528662420382165, 0.017606915377616012, -0.0024931756141947157, -0.6178343949044586], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.48853549843627375, 0.5325036054178428, 0.42139544647502275, 0.07076940887884225, 0.11928169222300758, 0.1618135315423727, 0.7863082477457811], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05095541477203369], "std": [0.21990668773651123], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [314]}, "index": {"min": [19931], "max": [20244], "mean": [20087.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [314]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6454053446451823]], [[0.4931068749521293]], [[0.4021531246409697]]], "std": [[[0.19455347331011985]], [[0.21986457337510062]], [[0.22166022081003295]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5335473297717525]], [[0.516652583103554]], [[0.49469808900122547]]], "std": [[[0.23656942923335494]], [[0.2310767803728336]], [[0.23269354025797476]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5136911986107919]], [[0.5059336517932368]], [[0.490616034414254]]], "std": [[[0.22403558273474827]], [[0.21914651164368867]], [[0.22306203385708537]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [378]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [378]}, "observation.state": {"min": [0.8287178500151802, -2.9109449477211258, 0.6999950806291921, 0.0, 0.0, -1.0, 8.847847254855878e-08, 0.13593713608796631, -0.01493615652127911, 0.24262954685780458, -0.9999921917915344, -0.03618652746081352, -0.12785159051418304, 0.0023804903030395508, 0.017488701008614587, -0.04016573888713121], "max": [0.8289449876796309, -2.910597198134062, 0.7004674064435679, 0.0, 0.0, 1.0, 0.0004232006031088531, 0.5757447427004189, 0.2938308167693471, 0.5948095954566223, 0.9999818205833435, 0.3527812063694, 0.023360339924693108, 0.06302613019943237, 0.04025813750251598, -0.017322662910158035], "mean": [0.8288058169500826, -2.9107942248444583, 0.7001472081614458, 0.0, 0.0, -0.33862433830897015, 0.000167946700164029, 0.4366074774112292, 0.09654081479065946, 0.33153261146028296, -0.8934944711980366, 0.16395007734797973, -0.06300618874967441, 0.03886306381885396, 0.0330356273976566, -0.03533951039437207], "std": [8.461154423689688e-05, 8.320683137861153e-05, 0.00019237475309216666, 0.0, 0.0, 0.9409216528883086, 0.00015058681615140497, 0.09155068736894299, 0.10641077673300758, 0.09016785099417073, 0.37232539011932697, 0.17065963595792302, 0.037066333390300674, 0.01353003178133419, 0.009039046422238328, 0.007365064484463702], "count": [378]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9285714285714287, -0.807142857142857, -0.7642857142857143, -0.13714285714285715, -0.10285714285714286, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 1.0, 1.0, 0.15428571428571428, 0.1, 0.04, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020238095238095263, 0.021730914588057443, -0.0035714285714285423, 0.0003703703703703702, 0.003106575963718826, -0.015479969765684056, -0.3968253968253968], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2806309174025222, 0.33428866235095434, 0.32882899710981095, 0.02897397755955143, 0.02448216266358634, 0.046507191454324394, 0.9178941139556137], "count": [378]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042328041046857834], "std": [0.20133647322654724], "count": [378]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026455026455026454], "std": [0.051366369944305816], "count": [378]}, "timestamp": {"min": [0.0], "max": [18.85], "mean": [9.424999999999999], "std": [5.455940951537752], "count": [378]}, "frame_index": {"min": [0], "max": [377], "mean": [188.5], "std": [109.11881903075503], "count": [378]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [378]}, "index": {"min": [20245], "max": [20622], "mean": [20433.5], "std": [109.11881903075503], "count": [378]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [378]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.63522574151731]], [[0.5152145104501761]], [[0.4450755244236367]]], "std": [[[0.18228232316916648]], [[0.15917740878926961]], [[0.15232901840558388]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7096229930204504]], [[0.5789907944623163]], [[0.45077666219075524]]], "std": [[[0.16667167279771605]], [[0.1677300890732182]], [[0.23256872725414018]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.703808905508004]], [[0.6030365762149585]], [[0.5007708417107077]]], "std": [[[0.16336865087952718]], [[0.17722099597549512]], [[0.2430307467786655]]], "count": [100]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [347]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [347]}, "observation.state": {"min": [3.461224513855166, -0.8418429099336733, 0.6999999157294764, 0.0, 0.0, 0.7070282697677612, 0.706704318523407, 0.17302275312093973, -0.09024592601967729, 0.23136603801484557, -0.991507351398468, -0.4494204521179199, -0.2262330800294876, 0.00026218313723802567, 0.011418899043285406, -0.0408292701347803], "max": [3.4617065753000413, -0.8407452309707046, 0.7020805479674317, 0.0, 0.0, 0.70750892162323, 0.7071853876113892, 0.5105189549609725, 0.16694407112042642, 0.5926479445318681, 0.9701928496360779, 0.34492725133895874, 0.21607549488544464, 0.12261930853128433, 0.0399938694715535, -0.011610073323306155], "mean": [3.4614467048711797, -0.8411559494795353, 0.7008038694088153, 0.0, 0.0, 0.7072591348752508, 0.7069543510761316, 0.40586325727975303, 0.008212144440684712, 0.31789464599670414, -0.8515497114541551, -0.22639944878881876, -0.13617775864061774, 0.05805276191366638, 0.030999650899132914, -0.03352429265361291], "std": [0.00014424206182739446, 0.0004373149991460992, 0.0008269764804881505, 0.0, 0.0, 0.00015090660938950616, 0.00015096398304696327, 0.06861007676282785, 0.08922358313397828, 0.08509313913849886, 0.39869132265853374, 0.18784656871606417, 0.08066601564611417, 0.03072073337213875, 0.010642946468489827, 0.010307792830555355], "count": [347]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8642857142857142, -0.6785714285714286, -0.6214285714285714, -0.07714285714285714, -0.09142857142857143, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 0.8500000000000001, 0.8714285714285716, 0.05142857142857143, 0.08285714285714285, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015623713462330168, -0.005722519555372558, -0.03470564018114459, -0.0014326883491148626, -0.004108686702346644, 0.0036640592836558283, -0.34293948126801155], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.240658815182133, 0.3209997321203938, 0.29094685703429146, 0.015898837161966283, 0.017949603603955824, 0.08124195103762698, 0.9393574996707218], "count": [347]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.046109508723020554], "std": [0.20972226560115814], "count": [347]}, "next.done": {"min": [false], "max": [true], "mean": [0.002881844380403458], "std": [0.05360540414333796], "count": [347]}, "timestamp": {"min": [0.0], "max": [17.3], "mean": [8.65], "std": [5.008492787256461], "count": [347]}, "frame_index": {"min": [0], "max": [346], "mean": [173.0], "std": [100.16985574512923], "count": [347]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [347]}, "index": {"min": [20623], "max": [20969], "mean": [20796.0], "std": [100.16985574512923], "count": [347]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [347]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5680078908882888]], [[0.5163585600011489]], [[0.4685178234623928]]], "std": [[[0.19836862167548178]], [[0.20867605872713638]], [[0.2382510524594919]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6141971058565028]], [[0.5903778512992112]], [[0.5550409468108533]]], "std": [[[0.18349270686846114]], [[0.18198958896582138]], [[0.19453325897504023]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.564818504782284]], [[0.5477425375545726]], [[0.5117343947466682]]], "std": [[[0.19445800853977793]], [[0.18931838489946243]], [[0.19306480469288462]]], "count": [100]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [334]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [334]}, "observation.state": {"min": [3.6786928914967327, -0.7630157868949552, 0.6999941123074528, 0.0, 0.0, 0.7059082984924316, 0.7070950865745544, -0.05720708923729012, -0.1326129855736604, 0.23411726553552348, -0.9994760155677795, -0.04606995731592178, -0.13336826860904694, 0.0012968952069059014, 0.008331550503064744, -0.039882738574385145], "max": [3.6807167839605865, -0.7614667869278926, 0.7032103110169732, 0.0, 0.0, 0.7071183919906616, 0.7083032131195068, 0.4033927841028733, 0.17576742308323778, 0.6030540495168253, 0.9994717240333557, 0.18813543021678925, 0.02631291374564171, 0.043783269822597504, 0.040774354745974524, -0.009523871780888926], "mean": [3.6799693330225103, -0.7624805109149349, 0.7019660405606765, 0.0, 0.0, 0.7063851374352049, 0.707827513446351, 0.26673823303957206, 0.05159364592774168, 0.31675965874725237, -0.6986484604324409, 0.06756275229736003, -0.04203704951035973, 0.02879244831221981, 0.0350045532678346, -0.03236144178866277], "std": [0.0006027612408594417, 0.0005026912687164985, 0.0010412021347780975, 0.0, 0.0, 0.0003455639711951413, 0.0003450840602479437, 0.07943994352126968, 0.09581082004367827, 0.07987464044108127, 0.703879706699379, 0.08761055096174712, 0.03903098391575632, 0.009155474079026895, 0.009618439641252594, 0.01014191879751775], "count": [334]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9857142857142858, -0.08, -0.08571428571428572, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9857142857142858, 1.0, 1.0, 0.06285714285714286, 0.1457142857142857, 0.1657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.07857142857142857, 0.014285714285714289, -0.062467921300256565, 0.001710863986313088, 0.0070829769033361875, -0.002951240376390071, -0.38323353293413176], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.39346131317005656, 0.4532342664192878, 0.3431829807416519, 0.018205072072752036, 0.0295277727428467, 0.03767748344511879, 0.9236514814770893], "count": [334]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04790419340133667], "std": [0.21356353163719177], "count": [334]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029940119760479044], "std": [0.05463559158950497], "count": [334]}, "timestamp": {"min": [0.0], "max": [16.65], "mean": [8.325000000000001], "std": [4.820853140264698], "count": [334]}, "frame_index": {"min": [0], "max": [333], "mean": [166.5], "std": [96.41706280529397], "count": [334]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [334]}, "index": {"min": [20970], "max": [21303], "mean": [21136.5], "std": [96.41706280529397], "count": [334]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [334]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6234221891515396]], [[0.558461950563917]], [[0.5053601301604626]]], "std": [[[0.20591565025314576]], [[0.2549801677504079]], [[0.31178110686870303]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06666666666666667]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46322899552887564]], [[0.4800462742225796]], [[0.490418342739928]]], "std": [[[0.2302969315095481]], [[0.20234600201872596]], [[0.19739224436414116]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.08627450980392157]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4710880593692555]], [[0.48541649792241115]], [[0.4944537503111596]]], "std": [[[0.21781620250882325]], [[0.19586094862008915]], [[0.19481239201303008]]], "count": [100]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [450]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [450]}, "observation.state": {"min": [0.8098485594199809, -2.451153918906204, 0.6999987285462385, 0.0, 0.0, -1.0, 3.228765521612331e-08, 0.08610240719849704, -0.19494011314786297, 0.264237250878646, -0.9996524453163147, -0.02919163927435875, -0.1419317126274109, 0.0019787775818258524, 0.018885586596629363, -0.04033660642052364], "max": [0.8103018172379177, -2.4498146261262463, 0.7020907426364108, 0.0, 0.0, 1.0, 0.0015847681788727641, 0.403524019209217, 0.2509647485562687, 0.5991117412987709, -0.9697340726852417, 0.10461704432964325, 0.2206767499446869, 0.028625084087252617, 0.04031363432242497, -0.020509080423009852], "mean": [0.8101711260577001, -2.4505156626457767, 0.7013969900934915, 0.0, 0.0, -0.9466661922136943, 0.0008335276676231333, 0.32591939193109964, 0.01552683165522764, 0.3325189004826012, -0.9865569558408526, 0.039408979941573406, 0.11214862101310347, 0.013608546634204686, 0.035972548032819164, -0.03842464913904898], "std": [0.00015582118003684998, 0.0004649987932348911, 0.0007432786330140918, 0.0, 0.0, 0.32221448076411763, 0.0005562109030155132, 0.06034190085115664, 0.12796617603746513, 0.08723254024797493, 0.01170762303900915, 0.059172119015890465, 0.09329815826024863, 0.0068443287178515805, 0.0068028869112494355, 0.0025270053302749586], "count": [450]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.807142857142857, -0.7214285714285715, -0.6357142857142857, -0.011428571428571429, -0.15714285714285714, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 0.7071428571428572, 0.8785714285714286, 0.008571428571428572, 0.12571428571428572, 0.10857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.029238095238095233, -0.004174603174603192, -0.023634920634920592, 3.854941057726238e-21, 0.00659682539682539, -0.0018603174603174602, -0.4311111111111111], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18479076848672388, 0.25910610577305737, 0.26885877579173756, 0.0008518354199999199, 0.04127449497571278, 0.025450578828604405, 0.9022988473208546], "count": [450]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.035555556416511536], "std": [0.18517924845218658], "count": [450]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022222222222222222], "std": [0.04708804466759354], "count": [450]}, "timestamp": {"min": [0.0], "max": [22.45], "mean": [11.225], "std": [6.495174490856013], "count": [450]}, "frame_index": {"min": [0], "max": [449], "mean": [224.5], "std": [129.90348981712026], "count": [450]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [450]}, "index": {"min": [21304], "max": [21753], "mean": [21528.5], "std": [129.90348981712026], "count": [450]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [450]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6724265160654105]], [[0.5685914528042663]], [[0.48387442974015776]]], "std": [[[0.22901785453449577]], [[0.19498005102556804]], [[0.15970567423472648]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5191589080212162]], [[0.45842171343635113]], [[0.4341920884076287]]], "std": [[[0.2070069819732289]], [[0.19099990174241105]], [[0.18272424092919615]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5284689498602175]], [[0.4765512001187194]], [[0.4543782486261106]]], "std": [[[0.2187515484484543]], [[0.19841838781339446]], [[0.18453869805285117]]], "count": [100]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [290]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [290]}, "observation.state": {"min": [4.9602026634387215, -0.9161471106806343, 0.6999990640821042, 0.0, 0.0, 0.7059030532836914, 0.7070221900939941, -0.033585678112111994, -0.03211200086160204, 0.22564188024761322, -0.9887513518333435, -0.17182298004627228, -0.2267918735742569, 0.00020536774536594748, 0.016451384410982477, -0.04005122639113398], "max": [4.962171423620243, -0.9137651261018429, 0.7043426156135114, 0.0, 0.0, 0.7071914076805115, 0.7083085179328918, 0.48139448282718955, 0.26110484141565493, 0.6170476111121089, 0.9998320937156677, 0.16981983184814453, 0.18678928911685944, 0.06736893951892853, 0.041000018412414005, -0.004870694272158899], "mean": [4.960905322367297, -0.9148956925033652, 0.7019179583774612, 0.0, 0.0, 0.7067728883233564, 0.7074401851358085, 0.3032510142050423, 0.09254657381026847, 0.3240520146892166, -0.6105532623570541, 0.04887393657118082, -0.07882524662458434, 0.016454669396023684, 0.03447963674864472, -0.032023220058489565], "std": [0.0006989343370803288, 0.0008708573996874014, 0.0015549426697014596, 0.0, 0.0, 0.00046734662974037724, 0.00046662977221629425, 0.10238163700610024, 0.10254792075495407, 0.10649908470238108, 0.7727295006819579, 0.09357450529173003, 0.11046328374012124, 0.016812931093334073, 0.007931496404537795, 0.011239382035422666], "count": [290]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.022857142857142857, -0.12571428571428572, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6500000000000001, 1.0, 1.0, 0.05714285714285715, 0.18, 0.23142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.08187192118226604, -0.019113300492610813, -0.07719211822660102, 0.002995073891625616, 0.008167487684729061, 0.003004926108374385, -0.496551724137931], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.39373839420998324, 0.47685294189135896, 0.3836377203282255, 0.010895607438217558, 0.053376678112385265, 0.05151449421636805, 0.8680071343345339], "count": [290]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05517241358757019], "std": [0.22831648588180542], "count": [290]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034482758620689655], "std": [0.05862068965517241], "count": [290]}, "timestamp": {"min": [0.0], "max": [14.45], "mean": [7.225], "std": [4.185764565763344], "count": [290]}, "frame_index": {"min": [0], "max": [289], "mean": [144.5], "std": [83.7152913152669], "count": [290]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [290]}, "index": {"min": [21754], "max": [22043], "mean": [21898.5], "std": [83.7152913152669], "count": [290]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [290]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.09019607843137255]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6488497314453125]], [[0.6223760244332108]], [[0.5821590941186044]]], "std": [[[0.2245592839500299]], [[0.257294996889426]], [[0.3173506186649745]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47688096708409927]], [[0.4736280936446844]], [[0.4790981959922641]]], "std": [[[0.2792545092184239]], [[0.2814294455593897]], [[0.27814967014711134]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47174607579848343]], [[0.46845209458295034]], [[0.471950148638557]]], "std": [[[0.2633137442186112]], [[0.26536627878512586]], [[0.26318790609261933]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [333]}, "observation.state": {"min": [3.4408645457278166, -0.8216653139750919, 0.6999990601810699, 0.0, 0.0, 0.7063063383102417, 0.7071565389633179, 0.08096010776842644, -0.14175601063453014, 0.23043613713225664, -0.9931239485740662, -0.07189811766147614, -0.17026439309120178, 5.44282011105679e-05, 0.020399395040517344, -0.04009695124988103], "max": [3.442028104001063, -0.8210548806215885, 0.7010869047419069, 0.0, 0.0, 0.707056999206543, 0.7079063653945923, 0.4557678634143235, 0.3523970651255768, 0.6159770151449953, 0.9931329488754272, 0.03280407190322876, 0.22256207466125488, 0.039174340665340424, 0.040043455536413336, -0.008334911505677368], "mean": [3.4414996044570993, -0.8214230305133364, 0.7006459549072034, 0.0, 0.0, 0.7066638398098875, 0.7075493158520879, 0.3492493116615617, 0.08640940879293942, 0.3480828756576914, -0.6955605825862369, -0.04438789573696641, -0.1097930221183522, 0.017193714183337976, 0.036206117030745506, -0.03523140061826666], "std": [0.00047581514890936816, 0.000260788973464433, 0.00047761659986073616, 0.0, 0.0, 0.00029480380694945247, 0.00029449530064425356, 0.07567302917958386, 0.12285323470107241, 0.09980454517417081, 0.700323425929448, 0.028693310845281306, 0.10224639188573303, 0.012021956307226503, 0.005766819297578137, 0.008425361058725149], "count": [333]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5428571428571429, -0.07714285714285714, -0.18571428571428572, -0.04285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.8785714285714286, 0.8214285714285715, 0.02, 0.07714285714285714, 0.022857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.029021879021879044, -0.008408408408408398, -0.005362505362505309, -0.0007636207636207636, -0.0010124410124410128, -0.0013899613899613899, -0.5135135135135135], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27639002124386, 0.3783563707945904, 0.3107189855294079, 0.006098642094075844, 0.029096920494800095, 0.008377894009054173, 0.8580815062912208], "count": [333]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048048049211502075], "std": [0.21386779844760895], "count": [333]}, "next.done": {"min": [false], "max": [true], "mean": [0.003003003003003003], "std": [0.05471731879365945], "count": [333]}, "timestamp": {"min": [0.0], "max": [16.6], "mean": [8.299999999999999], "std": [4.8064193186473725], "count": [333]}, "frame_index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [333]}, "index": {"min": [22044], "max": [22376], "mean": [22210.0], "std": [96.12838637294743], "count": [333]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3760526763317632]], [[0.2719777760225184]], [[0.22099463907877603]]], "std": [[[0.2443605561729847]], [[0.16500070463205832]], [[0.15037305103985293]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4106199245078891]], [[0.3541058080336627]], [[0.32498896400601257]]], "std": [[[0.19578079966052703]], [[0.2100205341580639]], [[0.2338694549435676]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3806556641821768]], [[0.3160955403645833]], [[0.281207623650046]]], "std": [[[0.20718686727802094]], [[0.2127458088897305]], [[0.23282421344395907]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [419]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [419]}, "observation.state": {"min": [5.003616485052342, -0.960393271466229, 0.699997865163824, 0.0, 0.0, 0.7065184116363525, 0.7070369720458984, 0.08452889503741567, -0.08405897482700819, 0.22909370487947467, -0.997530460357666, -0.23659342527389526, -0.2173607498407364, 0.00012284392141737044, 0.01040120945929805, -0.04014747184640483], "max": [5.004368284803966, -0.9598071962733719, 0.7010094347586292, 0.0, 0.0, 0.7071766257286072, 0.7076947689056396, 0.5545042286713222, 0.23189294785601167, 0.5882968382710324, 0.9941549897193909, 0.09508024156093597, 0.09969047456979752, 0.05810403451323509, 0.04018264874647695, -0.010240306580190086], "mean": [5.003930758130264, -0.9601137269373289, 0.700494331462434, 0.0, 0.0, 0.7068860077061346, 0.7073274313123243, 0.45218969375200385, 0.1056564377889294, 0.3033043184153509, -0.7208163260275539, -0.10390510578997664, -0.06794628898139714, 0.029900201605696803, 0.034520994529099805, -0.03332670984094171], "std": [0.0002488797598101348, 0.0002038992949487783, 0.00036261015701245005, 0.0, 0.0, 0.00019530178480732817, 0.00019514457860095818, 0.09526296280842783, 0.10471781556289826, 0.08247524011662881, 0.6734659005887879, 0.08297147291041615, 0.057866951969277027, 0.018101446756581378, 0.009570912239415058, 0.009772598578926876], "count": [419]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7000000000000001, -0.045714285714285714, -0.23142857142857146, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.9285714285714287, 0.6928571428571428, 0.03428571428571429, 0.09142857142857143, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02915103989089666, 0.006120013637913392, -0.017439481759290908, -0.0008387316740538698, -0.003273099215819983, -0.0001295601772928775, -0.3747016706443914], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3592154726823347, 0.33107699708445604, 0.2521263422243522, 0.006536324807476737, 0.0453063367903769, 0.05503407553567316, 0.9271454352022132], "count": [419]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03818615898489952], "std": [0.19164545834064484], "count": [419]}, "next.done": {"min": [false], "max": [true], "mean": [0.002386634844868735], "std": [0.0487948646784269], "count": [419]}, "timestamp": {"min": [0.0], "max": [20.9], "mean": [10.449999999999998], "std": [6.0477268456834254], "count": [419]}, "frame_index": {"min": [0], "max": [418], "mean": [209.0], "std": [120.95453691366852], "count": [419]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [419]}, "index": {"min": [22377], "max": [22795], "mean": [22586.0], "std": [120.95453691366852], "count": [419]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [419]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6362915877918414]], [[0.5386116719888159]], [[0.48518830156597176]]], "std": [[[0.18353174633563674]], [[0.17498163867227734]], [[0.17077474776378126]]], "count": [107]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41941288854911124]], [[0.40520467312536507]], [[0.3849180714035943]]], "std": [[[0.263546814187364]], [[0.26013786182736054]], [[0.2619845059584496]]], "count": [107]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.06274509803921569]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4182787626244459]], [[0.3995738673476656]], [[0.3768886505345056]]], "std": [[[0.24253479991340016]], [[0.23849573674946045]], [[0.24053105384091436]]], "count": [107]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [508]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [508]}, "observation.state": {"min": [-0.802610489521929, -1.6272852612235813, 0.6999975492661453, 0.0, 0.0, -0.002375956391915679, 0.9999972581863403, 0.13500604771333258, -0.12047413299043463, 0.22882574044740023, -0.9933658242225647, -0.5920652151107788, -0.13669529557228088, 0.04362320527434349, 0.008446301428966248, -0.04083027263688355], "max": [-0.8004036932587454, -1.6257873988207854, 0.7041002249119587, 0.0, 0.0, -6.079393642721698e-05, 1.0, 0.5448379995971995, 0.16669652929071277, 0.5998172450863309, -0.7950993180274963, -0.010791659355163574, -0.03520027920603752, 0.11192803829908371, 0.04012086581629102, -0.00672852090417063], "mean": [-0.8015082093212892, -1.6263604249596513, 0.7021787388509423, 0.0, 0.0, -0.0010353925823924721, 0.9999992138757481, 0.38247200733817766, -0.03477111145185447, 0.3150972645795871, -0.9202191435445951, -0.3176184452219507, -0.08264601050956746, 0.0757732581728556, 0.03329081204848229, -0.03361714657898427], "std": [0.0008424941731009834, 0.0004982708232718043, 0.001597120128536812, 0.0, 0.0, 0.0007472847967984357, 8.497864547774025e-07, 0.08585036861143246, 0.09476181872283941, 0.10186255990843542, 0.0677629023940493, 0.18503523918933568, 0.025885617261317252, 0.015600814573348087, 0.010236206737615742, 0.010443610420441049], "count": [508]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4857142857142857, -0.10285714285714286, -0.14857142857142858, -0.3942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6071428571428572, 1.0, 1.0, 0.1, 0.10285714285714286, 0.2142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008056805399325094, 0.007086614173228359, -0.032578740157480246, -0.0006749156355455567, 0.004471316085489313, 0.0013329583802024693, -0.515748031496063], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2848416586732261, 0.3432014535478145, 0.2754783993206335, 0.015300122275879739, 0.028478153792671494, 0.08795664855361914, 0.8567403153861367], "count": [508]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031496062874794006], "std": [0.17465411126613617], "count": [508]}, "next.done": {"min": [false], "max": [true], "mean": [0.001968503937007874], "std": [0.04432413483936103], "count": [508]}, "timestamp": {"min": [0.0], "max": [25.35], "mean": [12.674999999999999], "std": [7.33233421224101], "count": [508]}, "frame_index": {"min": [0], "max": [507], "mean": [253.5], "std": [146.64668424482022], "count": [508]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [508]}, "index": {"min": [22796], "max": [23303], "mean": [23049.5], "std": [146.64668424482022], "count": [508]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [508]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5860356152104397]], [[0.5418947718003216]], [[0.48458317595837164]]], "std": [[[0.16167516141519256]], [[0.12162246944237344]], [[0.15054826240320832]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4912932290469899]], [[0.523610491584329]], [[0.45765126785577515]]], "std": [[[0.1630623673754478]], [[0.1459373264419356]], [[0.17469570412313276]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4769024191463695]], [[0.505636532054228]], [[0.44289284440582877]]], "std": [[[0.18175088827194288]], [[0.16994705880629538]], [[0.18974834792821296]]], "count": [100]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [340]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [340]}, "observation.state": {"min": [2.236320257921272, -2.53344098229122, 0.6999963741665821, 0.0, 0.0, -0.0020108467433601618, 0.9999979734420776, 0.08442485970837676, -0.21530486811947558, 0.2267173728665599, -0.9906186461448669, -0.4489403963088989, -0.1664605736732483, 0.0003693477774504572, 0.005489027851336201, -0.04107395138012092], "max": [2.237742090233279, -2.5311437963910937, 0.7030481525472081, 0.0, 0.0, 0.0008033806807361543, 1.0, 0.4194632584719509, 0.21924264207173616, 0.615481456932498, 0.9904862642288208, 0.4489828646183014, 0.13216859102249146, 0.10402113944292068, 0.040002100952078234, -0.005766656227121209], "mean": [2.237317765465184, -2.531982792545355, 0.7009622926306178, 0.0, 0.0, -0.00023478703699791816, 0.9999996090636534, 0.30735137051150485, -0.012990092617753532, 0.3171707781507271, -0.6453441945945515, -0.09666712494457469, -0.08406368322013055, 0.03478880744805792, 0.03421455983272088, -0.03638904759294848], "std": [0.0005804138407520911, 0.0007356327607703628, 0.00120324714730814, 0.0, 0.0, 0.0008814341918301333, 6.18634797356896e-07, 0.05553549333930425, 0.10999605369331901, 0.08517071077098438, 0.7017513359861279, 0.255207606423086, 0.08812748160323178, 0.023602073612521313, 0.010180087061603803, 0.00851737904286351], "count": [340]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8500000000000001, -0.7000000000000001, -0.12857142857142856, -0.1457142857142857, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3214285714285714, 1.0, 0.8571428571428572, 0.09142857142857143, 0.06, 0.27714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.044453781512605046, -0.010105042016806707, -0.05195378151260505, -0.0047478991596638645, -0.004243697478991597, -0.0007394957983193285, -0.5529411764705883], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2356120900707366, 0.36035665907442826, 0.30013191421619634, 0.02390261501572725, 0.020635129239178644, 0.10191836098381954, 0.833220292217684], "count": [340]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0470588244497776], "std": [0.21176472306251526], "count": [340]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029411764705882353], "std": [0.05415280188094697], "count": [340]}, "timestamp": {"min": [0.0], "max": [16.95], "mean": [8.475000000000001], "std": [4.907456061953076], "count": [340]}, "frame_index": {"min": [0], "max": [339], "mean": [169.5], "std": [98.14912123906153], "count": [340]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [340]}, "index": {"min": [23304], "max": [23643], "mean": [23473.5], "std": [98.14912123906153], "count": [340]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [340]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7122529362697227]], [[0.6608357502058441]], [[0.6138963030646829]]], "std": [[[0.2041188623412806]], [[0.21187453831273034]], [[0.23438922783106]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5764380391438803]], [[0.5568380898868337]], [[0.5464216721478631]]], "std": [[[0.24918440840807818]], [[0.26340786682968814]], [[0.2738879282734131]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0392156862745098]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5582981866574755]], [[0.5379320134181602]], [[0.530474754782284]]], "std": [[[0.22661125893455114]], [[0.242920325634401]], [[0.2592410304591966]]], "count": [100]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [5.267707727501253, -1.2311672623901615, 0.6999982153901506, 0.0, 0.0, -9.57393494900316e-05, 0.9999988079071045, 0.22391693205027785, -0.13188414866729659, 0.2404425939415843, -0.9904288649559021, -0.025060266256332397, -0.1850636899471283, 0.00036987336352467537, 0.020546390426253437, -0.04063734499344433], "max": [5.268212617706936, -1.229943245413745, 0.7013093891077912, 0.0, 0.0, 0.0015435549430549145, 1.0, 0.5191653343043807, 0.26257521023899777, 0.6092327087394164, -0.9400413632392883, 0.3184194266796112, 0.07574651390314102, 0.15883170068264008, 0.04036055136112734, -0.02021881541820697], "mean": [5.2679437401362845, -1.230492793136118, 0.7006849524113407, 0.0, 0.0, 0.0008079231928082931, 0.9999995193633425, 0.4139234762163785, 0.034528097537271686, 0.31895740543207673, -0.965708245556668, 0.16030106856765974, -0.08159148826869576, 0.05619605355344127, 0.036193133158750716, -0.03699627088194071], "std": [0.0001749722570354047, 0.0004618225068235758, 0.0004629348942905893, 0.0, 0.0, 0.0006059746373428344, 4.289413185264387e-07, 0.07543978374968366, 0.09805767046917689, 0.09551183783628546, 0.019366459209968795, 0.1540144589107013, 0.08105254953468138, 0.035084985198283625, 0.0060901752174437485, 0.0058466766956414805], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -1.0, -1.0, -0.10285714285714286, -0.26857142857142857, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5, 0.9214285714285714, 0.9357142857142857, 0.10857142857142858, 0.40571428571428575, 0.1142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0068298235628912905, -0.0015936254980079565, -0.031815594763801996, 0.006829823562891291, 0.0022879908935685947, -0.017825839499146286, -0.6095617529880478], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.269091169136329, 0.41765199250045437, 0.40592915961048764, 0.03309040314232706, 0.10077446904937927, 0.0611704301602872, 0.7927385882459221], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06772908568382263], "std": [0.25128042697906494], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [251]}, "index": {"min": [23644], "max": [23894], "mean": [23769.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [251]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9450980392156862]], [[0.9490196078431372]]], "mean": [[[0.6045588384890088]], [[0.525316203397863]], [[0.45312882606655946]]], "std": [[[0.2184361459505445]], [[0.20508416921528116]], [[0.21646112131513773]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09019607843137255]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6016073153626684]], [[0.5755920727299708]], [[0.529095853917739]]], "std": [[[0.14948724455940798]], [[0.19898116264369853]], [[0.2173117914044769]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.0784313725490196]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5748683447744333]], [[0.5515636147891775]], [[0.5111790400486366]]], "std": [[[0.1559611591766115]], [[0.20366139898512384]], [[0.22039595489277997]]], "count": [100]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [308]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [308]}, "observation.state": {"min": [2.252966217592157, -2.703293554148761, 0.6999981164540267, 0.0, 0.0, -0.0039913770742714405, 0.9999920129776001, 0.26031441494581165, -0.03843327920517492, 0.2328958506852058, -0.9884213805198669, -0.4264766573905945, -0.14325498044490814, 4.630345938494429e-05, 0.01791175643068632, -0.040050790983229514], "max": [2.2538940960532496, -2.700255367942857, 0.7025542018589159, 0.0, 0.0, 1.5549004501735908e-06, 1.0, 0.5591372229793614, 0.3355039762685159, 0.6109594807780151, 0.9829064011573792, 0.39653199911117554, 0.14993084967136383, 0.0810980275273323, 0.03992404884420467, -0.017189845187805423], "mean": [2.2533727816840208, -2.702065354042902, 0.7014740448028349, 0.0, 0.0, -0.0024268472021296583, 0.9999962611631914, 0.4464693846310594, 0.1519632946639425, 0.3136822300745826, -0.48591117541511336, -0.1723164354342145, -0.03185620811138931, 0.032544841752295925, 0.03334827060347924, -0.03415223362263885], "std": [0.0003040889308206899, 0.001026524485889888, 0.0008965201083523, 0.0, 0.0, 0.001284084250938946, 2.686044645724699e-06, 0.0683133752541614, 0.09982815168883012, 0.08678616975100938, 0.7963980949250716, 0.30163655932473254, 0.07891806869885454, 0.025705748535478083, 0.007106085635326216, 0.007508464942535806], "count": [308]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8714285714285716, -1.0, -0.9571428571428572, -0.08571428571428572, -0.11142857142857143, -0.35714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9785714285714284, 0.16857142857142857, 0.09714285714285714, 0.44285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0009044526901669485, -0.006609461966604778, -0.08033395176252321, 0.000825602968460111, 0.0018089053803339522, 0.006038961038961048, -0.4025974025974026], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3201127627964354, 0.49152054559085295, 0.32751080296540697, 0.024800974256666632, 0.027384212646109563, 0.10299298166955421, 0.9153771525561605], "count": [308]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.051948051899671555], "std": [0.22192217409610748], "count": [308]}, "next.done": {"min": [false], "max": [true], "mean": [0.003246753246753247], "std": [0.05688771255823127], "count": [308]}, "timestamp": {"min": [0.0], "max": [15.35], "mean": [7.674999999999999], "std": [4.4455736412751055], "count": [308]}, "frame_index": {"min": [0], "max": [307], "mean": [153.5], "std": [88.9114728255021], "count": [308]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [308]}, "index": {"min": [23895], "max": [24202], "mean": [24048.5], "std": [88.9114728255021], "count": [308]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [308]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6163223859001609]], [[0.5742964675005744]], [[0.5382074058383118]]], "std": [[[0.18506779377344543]], [[0.16455100004705306]], [[0.16922674411369237]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.07058823529411765]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4344017938352098]], [[0.4262925803988588]], [[0.41252696317784926]]], "std": [[[0.27365483865548323]], [[0.272880443856791]], [[0.2773850173034045]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4608193347407322]], [[0.45326697315889247]], [[0.4421882605459176]]], "std": [[[0.25929170474015695]], [[0.2599404440418335]], [[0.26547287987681173]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [319]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [319]}, "observation.state": {"min": [3.4044837516059148, -0.8355021881426254, 0.6999965168626641, 0.0, 0.0, 0.7069519758224487, 0.7070354223251343, 0.14788297745370704, -0.18386570657527734, 0.23023943429631644, -0.9955673217773438, -0.07856769859790802, -0.25492602586746216, 0.00019156104826834053, 0.019546276122020097, -0.03995109921914545], "max": [3.404684955784454, -0.8353777417536931, 0.7002131689112548, 0.0, 0.0, 0.7071781158447266, 0.7072615623474121, 0.4884920338937867, 0.23370449005657346, 0.6036344388321022, 0.9657130837440491, 0.014145523309707642, 0.282941997051239, 0.03193682059645653, 0.03999687592384397, -0.020500446401509196], "mean": [3.4045966872216455, -0.8354639892263059, 0.7001425099728329, 0.0, 0.0, 0.7070560677671881, 0.7071574705895212, 0.42277699231653565, 0.012196503342051397, 0.322656996537564, -0.9376714904106522, -0.06577583047383258, -0.12651820773941969, 0.018740373539114678, 0.03582366689149116, -0.036232477246363026], "std": [4.477956928959338e-05, 3.763997291691361e-05, 7.326270074037336e-05, 0.0, 0.0, 4.302365937900639e-05, 4.304114400416362e-05, 0.07111410192558117, 0.11346931507643736, 0.094216492907479, 0.30479973952349404, 0.012430124048424095, 0.08365888455093233, 0.005608897032233741, 0.0066548751737778725, 0.005718855363686012], "count": [319]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9857142857142858, -1.0, -0.04, -0.11714285714285716, -0.13142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9571428571428572, 1.0, 0.9214285714285714, 0.037142857142857144, 0.17714285714285713, 0.06, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015047021943573696, 0.001970443349753694, -0.003246753246753202, -0.0009046126287505597, -0.0038871473354231954, -0.004317062248096731, -0.5047021943573667], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3055367289771725, 0.3752447272882211, 0.37355464125957794, 0.006845156607893998, 0.03140924468648198, 0.02514201826489364, 0.8632935161408657], "count": [319]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05329153686761856], "std": [0.2246141880750656], "count": [319]}, "next.done": {"min": [false], "max": [true], "mean": [0.003134796238244514], "std": [0.05590142476528842], "count": [319]}, "timestamp": {"min": [0.0], "max": [15.9], "mean": [7.95], "std": [4.604345773288535], "count": [319]}, "frame_index": {"min": [0], "max": [318], "mean": [159.0], "std": [92.0869154657707], "count": [319]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [319]}, "index": {"min": [24203], "max": [24521], "mean": [24362.0], "std": [92.0869154657707], "count": [319]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [319]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4555154257381664]], [[0.399217711205576]], [[0.3579694907992494]]], "std": [[[0.20103058300526483]], [[0.19680437097243206]], [[0.2198095376336723]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4640312859030331]], [[0.47922969324448533]], [[0.4362389687930836]]], "std": [[[0.19915752012572815]], [[0.19738887530841884]], [[0.20755419235134442]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5031408290489047]], [[0.5137999626608456]], [[0.47380086622051165]]], "std": [[[0.18379485089401892]], [[0.17795588882986038]], [[0.19555923429854433]]], "count": [100]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [253]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [253]}, "observation.state": {"min": [3.1055060381214203, -0.7591266912995516, 0.7000000247877044, 0.0, 0.0, 0.7068837881088257, 0.7070659399032593, 0.12054975380897304, -0.16351277623038563, 0.2291622710059733, -0.9984867572784424, -0.13691912591457367, -0.1145513728260994, 5.4705891670892015e-05, 0.007842101103363856, -0.03989415169519211], "max": [3.105828162584428, -0.7587926474050962, 0.7007584282899817, 0.0, 0.0, 0.7071475982666016, 0.7073298096656799, 0.34884615012804254, 0.22896619319798805, 0.5929616803552783, 0.9914025664329529, 0.08515150845050812, 0.13667501509189606, 0.0211147703230381, 0.03994924924540215, -0.008226109229872493], "mean": [3.1056463682411612, -0.7590048220514142, 0.7004768089979488, 0.0, 0.0, 0.7070266168579282, 0.7071869236678474, 0.3100015182556026, 0.02515436358590459, 0.3216163356444101, -0.8980501899606155, -0.105320863499354, -0.023086943436347745, 0.013501396686752192, 0.03214666020844858, -0.032887858167080224], "std": [9.525351799301264e-05, 0.00012506523407151312, 0.0002906900609890832, 0.0, 0.0, 6.613840890555984e-05, 6.614429610162309e-05, 0.039901704926563905, 0.10862494199719037, 0.10292936409511612, 0.42137166941513854, 0.04574483063505084, 0.04503479083717334, 0.004823512723238592, 0.01033426675361504, 0.010118546353264205], "count": [253]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9857142857142858, -0.8428571428571429, -0.022857142857142857, -0.11714285714285716, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 1.0, 1.0, 0.03428571428571429, 0.13714285714285715, 0.05714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03673066064370413, 0.010050818746470867, -0.013608130999435366, 0.0008695652173913045, 0.0035008469791078483, 0.0013551665725578762, -0.44664031620553357], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2542320973418946, 0.4006777822196912, 0.3953727586961198, 0.004412998675361912, 0.034928178815009606, 0.022542357397424887, 0.8947136010700976], "count": [253]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06324110925197601], "std": [0.2433961033821106], "count": [253]}, "next.done": {"min": [false], "max": [true], "mean": [0.003952569169960474], "std": [0.06274509038097843], "count": [253]}, "timestamp": {"min": [0.0], "max": [12.6], "mean": [6.300000000000001], "std": [3.651711927302043], "count": [253]}, "frame_index": {"min": [0], "max": [252], "mean": [126.0], "std": [73.03423854604085], "count": [253]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [253]}, "index": {"min": [24522], "max": [24774], "mean": [24648.0], "std": [73.03423854604085], "count": [253]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [253]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5983503567564721]], [[0.5185905522365196]], [[0.4428114223106235]]], "std": [[[0.19713129542091276]], [[0.25606705870045926]], [[0.32591689621608133]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4291119863472733]], [[0.45617147168926164]], [[0.458359437231924]]], "std": [[[0.2748846195390664]], [[0.2423507443203915]], [[0.2402817037812621]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4702963071336933]], [[0.49855620919021904]], [[0.5008346934599035]]], "std": [[[0.2913112084312879]], [[0.255886060790803]], [[0.2531344589977807]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [300]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [300]}, "observation.state": {"min": [2.326295030550919, -1.5299875480477982, 0.7000000214493615, 0.0, 0.0, -1.0, 7.448605288118415e-08, 0.10299070582691883, -0.11018139535072757, 0.2292280656553911, -0.997168779373169, -0.03640447556972504, -0.14857880771160126, 0.01784629561007023, 0.0045159876941411915, -0.03982211051378423], "max": [2.3275407975793647, -1.5283596060196394, 0.7019944749678838, 0.0, 0.0, 1.0, 0.0016129190335050225, 0.3503495077372605, 0.30462470235560435, 0.5883436803500024, -0.9842839241027832, 0.112505704164505, -0.06243286654353142, 0.07502071559429169, 0.04049913193897028, -0.005070186825147951], "mean": [2.3270871937366646, -1.529079649998338, 0.7011957392377246, 0.0, 0.0, 0.8933327774206797, 0.0009255635809945298, 0.2984232443497814, 0.0977323694197691, 0.3100802304552633, -0.9907831142346064, 0.03977386685709158, -0.10097603268921375, 0.042162186751763024, 0.03419247041745225, -0.031166764005035753], "std": [0.0004584827401525615, 0.0005382229134879057, 0.0007026634281126568, 0.0, 0.0, 0.4493945226201976, 0.0005566794499388011, 0.04357694016546875, 0.1152603169721971, 0.08152087512560029, 0.004100037151484458, 0.06395364106825147, 0.02010021177136802, 0.01679762837805913, 0.010319900323411815, 0.011035464355198416], "count": [300]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.95, -0.1, -0.10571428571428572, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.55, 1.0, 0.9714285714285714, 0.10857142857142858, 0.07714285714285714, 0.1, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03735714285714286, 0.01952380952380953, -0.02409523809523806, 0.00014285714285714178, 0.001552380952380951, -0.0038761904761904736, -0.30666666666666664], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20933126840482477, 0.3810397221304755, 0.34452327969156604, 0.02263237702487125, 0.014432047357520144, 0.027961507393050363, 0.9518169758706525], "count": [300]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05666666850447655], "std": [0.2312045693397522], "count": [300]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033333333333333335], "std": [0.057638721552635275], "count": [300]}, "timestamp": {"min": [0.0], "max": [14.95], "mean": [7.475], "std": [4.330102962594154], "count": [300]}, "frame_index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [300]}, "index": {"min": [24775], "max": [25074], "mean": [24924.5], "std": [86.60205925188308], "count": [300]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [300]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6412950870289522]], [[0.5611952065860525]], [[0.5112201585956648]]], "std": [[[0.23765426425436295]], [[0.29840481482790776]], [[0.3433936969219297]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5367951354980468]], [[0.5155644770603555]], [[0.5077469261019838]]], "std": [[[0.2363028313372059]], [[0.24644844840940758]], [[0.2509520041517292]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.10196078431372549]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5681128516103707]], [[0.5479002236758962]], [[0.5382466484518612]]], "std": [[[0.2418100355973611]], [[0.25493900147480375]], [[0.2576542827393084]]], "count": [100]}, "annotation.human.task_description": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [321]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [321]}, "observation.state": {"min": [1.9627171765769247, -0.7774897048653061, 0.6999996331934395, 0.0, 0.0, 0.7063196301460266, 0.7070732712745667, 0.13011529332388938, -0.2366129989694281, 0.22926401661645412, -0.9962913393974304, -0.11003174632787704, -0.22531330585479736, 0.01718677207827568, 0.019910672556655695, -0.04053038184807307], "max": [1.9638573489382123, -0.7759911566087523, 0.7030775833802715, 0.0, 0.0, 0.7071402072906494, 0.7078930139541626, 0.3378164622440495, 0.18121633086074795, 0.5968305192632498, -0.9739102125167847, -0.020914852619171143, 0.10235388576984406, 0.06671874970197678, 0.04000241694979384, -0.014882387148295652], "mean": [1.9630888900941332, -0.7767773013636222, 0.7016593131291909, 0.0, 0.0, 0.7068773717895104, 0.7073360388152696, 0.29449649948728485, -0.04191528605757159, 0.3025259890445741, -0.9908044369792641, -0.08486295707314928, -0.030638810194959152, 0.04099388410717342, 0.035123046950057565, -0.03643549323530836], "std": [0.0003605584165106982, 0.0004703733678346471, 0.0009834163333852987, 0.0, 0.0, 0.00023827127575472106, 0.0002380142103791954, 0.038121691058671046, 0.1140409735892536, 0.08387022057521525, 0.003604767257911856, 0.01620473004622102, 0.08970237780589779, 0.012787098920592752, 0.006314826247135143, 0.0068768349813287], "count": [321]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6785714285714286, -1.0, -1.0, -0.045714285714285714, -0.19142857142857142, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 0.9928571428571428, 1.0, 0.05142857142857143, 0.26285714285714284, 0.15714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0202714730752114, -0.015576323987538963, -0.023943035157988433, 0.0005696484201157099, -0.0001958166444147771, -0.00017801513128615947, -0.4953271028037383], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18232746577313547, 0.37706127496057795, 0.36407845557054935, 0.006573653142921832, 0.06453529009319442, 0.03259312431576263, 0.868706544943718], "count": [321]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04984423518180847], "std": [0.2176230251789093], "count": [321]}, "next.done": {"min": [false], "max": [true], "mean": [0.003115264797507788], "std": [0.055727550841116254], "count": [321]}, "timestamp": {"min": [0.0], "max": [16.0], "mean": [8.0], "std": [4.633213427705082], "count": [321]}, "frame_index": {"min": [0], "max": [320], "mean": [160.0], "std": [92.66426855410162], "count": [321]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [321]}, "index": {"min": [25075], "max": [25395], "mean": [25235.0], "std": [92.66426855410162], "count": [321]}, "task_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [321]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5142737007889093]], [[0.4448077308804381]], [[0.36009891943838085]]], "std": [[[0.15074823655462338]], [[0.1571709893058018]], [[0.19677019293848388]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.605649154363894]], [[0.5843286372166053]], [[0.5588905974743413]]], "std": [[[0.1756910427593029]], [[0.18625769984524715]], [[0.19739373694992796]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5755783942727482]], [[0.5532032255284927]], [[0.5287489785587086]]], "std": [[[0.2126987376389638]], [[0.2203484571897783]], [[0.22888641838394563]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [291]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [291]}, "observation.state": {"min": [2.954875540716359, -1.7538383258175947, 0.6999959403947595, 0.0, 0.0, -0.7074074149131775, 0.7068060636520386, 0.12932829986761263, -0.19846727032669653, 0.2305997446118091, -0.9988707900047302, -0.08504113554954529, -0.12701503932476044, 0.0001425438967999071, 0.02049541493171817, -0.039917150064338575], "max": [2.955225408078632, -1.7532441604781273, 0.7009156381107663, 0.0, 0.0, -0.7068438529968262, 0.7073696851730347, 0.5298973087001999, 0.22349103638570744, 0.6013816432405835, 0.9996176362037659, 0.10748463124036789, 0.15091724693775177, 0.054142341017723083, 0.03997523767882001, -0.019911760577725694], "mean": [2.955054918032693, -1.7535785622099902, 0.7003685056163944, 0.0, 0.0, -0.7070986526118931, 0.7071148937510461, 0.4378991180112582, -0.04135678426985839, 0.33176014707833684, -0.7428384697724044, 0.033044716983367896, -0.008326378999809219, 0.027387368382067543, 0.033949661247908325, -0.033248854830933386], "std": [7.353602989879993e-05, 0.00025455845923332384, 0.0004181257604784624, 0.0, 0.0, 0.00014539578558615528, 0.00014541610234572566, 0.09434012847712543, 0.143249492794852, 0.08435455726762872, 0.6633629538993346, 0.060445672445354766, 0.048211276831783875, 0.0158507791731663, 0.006172986118947751, 0.007803636238589121], "count": [291]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9928571428571428, -0.06285714285714286, -0.22285714285714286, -0.14857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8642857142857142, 1.0, 1.0, 0.1457142857142857, 0.14857142857142858, 0.1457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012493863524791303, -0.009990181639666177, -0.03775159548355436, 0.003946980854197349, 0.007658321060382921, 0.0018851251840942551, -0.2027491408934708], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3721497773465557, 0.5437732496019251, 0.41881659931718235, 0.0232590221370967, 0.0474573430219703, 0.04075565067053596, 0.979230711256013], "count": [291]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05498281866312027], "std": [0.2279467135667801], "count": [291]}, "next.done": {"min": [false], "max": [true], "mean": [0.003436426116838488], "std": [0.05852022806160275], "count": [291]}, "timestamp": {"min": [0.0], "max": [14.5], "mean": [7.25], "std": [4.200198408012016], "count": [291]}, "frame_index": {"min": [0], "max": [290], "mean": [145.0], "std": [84.0039681602403], "count": [291]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [291]}, "index": {"min": [25396], "max": [25686], "mean": [25541.0], "std": [84.0039681602403], "count": [291]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [291]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5780068407245711]], [[0.45900611967198984]], [[0.37950552906709556]]], "std": [[[0.20771527610873017]], [[0.18312818218815394]], [[0.20399617119277547]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7001138910031787]], [[0.5815729818905101]], [[0.47083914962469364]]], "std": [[[0.1354350898611424]], [[0.1549095429915081]], [[0.21976637268493407]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.714803357891008]], [[0.5810647445379519]], [[0.4612989250631893]]], "std": [[[0.12141728165873908]], [[0.14238557943008007]], [[0.20472004786461018]]], "count": [100]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [290]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [290]}, "observation.state": {"min": [2.2991762432278593, -1.4825468121484717, 0.6999975015922507, 0.0, 0.0, -1.0, 8.567955944727146e-08, 0.13519236174480964, -0.13256113191193708, 0.22951474682971051, -0.9964353442192078, -0.1434440314769745, -0.13551431894302368, 0.008698039688169956, 0.015826557963608677, -0.039869831328469954], "max": [2.2994638256302147, -1.4822729743384129, 0.7003375151581738, 0.0, 0.0, 1.0, 0.0004691535432357341, 0.5062166172132248, 0.13341194751075358, 0.5988007314239516, -0.9831711649894714, -0.026454687118530273, -0.05763953551650047, 0.02860640361905098, 0.040158228229130614, -0.019705582641896775], "mean": [2.299261694452053, -1.4824274500669394, 0.700066509185612, 0.0, 0.0, 0.9103448197759431, 0.00016701005978754619, 0.37487079177288873, -0.002890523821783709, 0.34536895268038653, -0.9929086757117305, -0.07024659200988967, -0.08571872413158417, 0.02212816518891988, 0.03489391308903576, -0.0346752275334635], "std": [8.55783987331489e-05, 8.277268326549659e-05, 0.00011857970451209423, 0.0, 0.0, 0.41385056903015166, 0.00014641265304926593, 0.08955542595587747, 0.09458957636624893, 0.0885795402806536, 0.0038444259368974804, 0.03330231751765303, 0.014366885124046939, 0.00549525180150459, 0.006674696191038657, 0.006744053532583948], "count": [290]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8500000000000001, -0.6357142857142857, -0.03428571428571429, -0.04285714285714286, -0.09714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6428571428571428, 1.0, 1.0, 0.05714285714285715, 0.15142857142857147, 0.15428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.017660098522167534, -0.00847290640394087, -0.00839901477832515, 0.0007684729064039409, 0.00723152709359606, 4.92610837438431e-05, -0.2896551724137931], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32035350572932053, 0.35937380659841295, 0.34618002638449946, 0.007924735129502472, 0.024605670201040486, 0.030992457275426464, 0.9571310678762535], "count": [290]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05517241358757019], "std": [0.22831648588180542], "count": [290]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034482758620689655], "std": [0.05862068965517241], "count": [290]}, "timestamp": {"min": [0.0], "max": [14.45], "mean": [7.225], "std": [4.185764565763344], "count": [290]}, "frame_index": {"min": [0], "max": [289], "mean": [144.5], "std": [83.7152913152669], "count": [290]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [290]}, "index": {"min": [25687], "max": [25976], "mean": [25831.5], "std": [83.7152913152669], "count": [290]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [290]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5418939208984376]], [[0.46935239126168043]], [[0.4398754451976103]]], "std": [[[0.175553156744061]], [[0.2211871518059482]], [[0.24175001240630306]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6443210515040978]], [[0.633455535888672]], [[0.6073303701363358]]], "std": [[[0.2569620277269895]], [[0.24506495324774194]], [[0.22132953202538616]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6942832593730852]], [[0.6835516674565334]], [[0.6564857165766698]]], "std": [[[0.23876029082545688]], [[0.22699510295148767]], [[0.20392747188020569]]], "count": [100]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [239]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [239]}, "observation.state": {"min": [0.7839914155218899, -1.1945107935266206, 0.6999893112464167, 0.0, 0.0, -1.0, 8.357977776540793e-08, 0.05234200190978677, -0.09867597398355477, 0.2384941857232833, -0.9998589158058167, -0.028546974062919617, -0.18572992086410522, 1.0790436135721393e-05, 0.011386690309291514, -0.03981365565908377], "max": [0.7840490797666068, -1.1942551090667344, 0.7000554237048319, 0.0, 0.0, 1.0, 0.00022031139815226197, 0.3687584205221146, 0.1397204338435727, 0.601269164930389, 0.9965857863426208, 0.023037508130073547, 0.1371697336435318, 0.03696948662400246, 0.039931893505953185, -0.011959342002050904], "mean": [0.7840229422503856, -1.1943894119974812, 0.7000172888701707, 0.0, 0.0, -0.2803347280334728, 7.384626722614675e-05, 0.28364714734885504, 0.035537720435612395, 0.31771074935976445, -0.23639133136142745, -0.007419068381876127, -0.025123989775535264, 0.012310142598823811, 0.03324191252310097, -0.03260525959012396], "std": [1.5027171747722718e-05, 5.839592040148871e-05, 1.5308065511507185e-05, 0.0, 0.0, 0.9599023076638554, 5.584619595722077e-05, 0.06585572132884872, 0.09375024361455368, 0.09345965539582576, 0.9655713397847329, 0.015138058448771514, 0.10323398524623116, 0.008179886386363801, 0.009522629737149478, 0.009314614691983072], "count": [239]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.11142857142857143, -0.32571428571428573, -0.06285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 1.0, 1.0, 0.07714285714285714, 0.10857142857142858, 0.06285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05457262402869096, -0.008158995815899597, -0.027764494919306753, -0.001637776449491931, -0.0017214584578601312, -0.0017334130304841604, -0.3305439330543933], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27385155604598205, 0.45389357301625555, 0.4083138093334689, 0.016295525215926938, 0.058467970527618277, 0.017080009611552573, 0.9437906061838781], "count": [239]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06694560497999191], "std": [0.24992775917053223], "count": [239]}, "next.done": {"min": [false], "max": [true], "mean": [0.0041841004184100415], "std": [0.06454915740812348], "count": [239]}, "timestamp": {"min": [0.0], "max": [11.9], "mean": [5.95], "std": [3.449637662132068], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [239]}, "index": {"min": [25977], "max": [26215], "mean": [26096.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [239]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5743142323213465]], [[0.5256440387800628]], [[0.495499672684015]]], "std": [[[0.2524106582405247]], [[0.29011859625229475]], [[0.32052508751521425]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5716632762235754]], [[0.5097762768315334]], [[0.4769808038449755]]], "std": [[[0.20412621453719246]], [[0.2309800524458748]], [[0.25090844045442784]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679819258147595]], [[0.5129188633339078]], [[0.4863893354827282]]], "std": [[[0.20773856035394148]], [[0.2348918694838132]], [[0.25987878854983854]]], "count": [100]}, "annotation.human.task_description": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [3.7439818473541466, -1.5983208191640044, 0.6999971105305239, 0.0, 0.0, -0.001101992791518569, 0.9999994039535522, -0.04095399467344407, -0.35628741717511736, 0.2531984293685525, -0.9903984665870667, -0.18921992182731628, -0.1508444845676422, 0.002576695755124092, 0.020532758675464904, -0.03981243372524518], "max": [3.74486758170685, -1.597649134116585, 0.7019547202957431, 0.0, 0.0, 0.0002607967471703887, 1.0, 0.5406498892242517, 0.035075496070090306, 0.6023840850942171, 0.9852535724639893, 0.5938304662704468, 0.16225455701351166, 0.22222265601158142, 0.040782971835036874, -0.010176332814686866], "mean": [3.744610719125333, -1.5979698391392072, 0.7006225270943238, 0.0, 0.0, -0.0002688688098987768, 0.9999999468667167, 0.3481429373893516, -0.1603461171995472, 0.3743056461423862, -0.8789004422937121, 0.3676546717115811, 0.007374209227938471, 0.11124112435550029, 0.03779437872400702, -0.03445800151391445], "std": [0.00032234233099688516, 0.00020635629151757176, 0.0007458776656902372, 0.0, 0.0, 0.00029853667217960187, 9.021925267346569e-08, 0.12209642280918032, 0.09315771303502973, 0.11667369924128823, 0.2089179812930579, 0.16216029814102173, 0.084786917688867, 0.05294893050492397, 0.003939796699783106, 0.00922917225561753], "count": [350]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.19142857142857142, -0.31142857142857144, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9285714285714287, 1.0, 0.7357142857142858, 0.1742857142857143, 0.2142857142857143, 0.4914285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0647551020408163, -0.014081632653061204, -0.050591836734693925, 0.0037632653061224473, 0.00332244897959184, -0.001444897959183687, -0.6228571428571429], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4246798637470579, 0.4583376787243673, 0.3128698620895196, 0.05796667327291617, 0.06732467213845596, 0.11171365818200783, 0.7823355926914224], "count": [350]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04857143014669418], "std": [0.21497033536434174], "count": [350]}, "next.done": {"min": [false], "max": [true], "mean": [0.002857142857142857], "std": [0.05337583340648401], "count": [350]}, "timestamp": {"min": [0.0], "max": [17.45], "mean": [8.725], "std": [5.051794235714673], "count": [350]}, "frame_index": {"min": [0], "max": [349], "mean": [174.5], "std": [101.03588471429346], "count": [350]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [350]}, "index": {"min": [26216], "max": [26565], "mean": [26390.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [350]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6697140670477175]], [[0.6462778547698376]], [[0.6050218356263404]]], "std": [[[0.19095140318806209]], [[0.18980746638658266]], [[0.22330047220015617]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5902114957921646]], [[0.5598516761929382]], [[0.5236821731866576]]], "std": [[[0.22793659614830475]], [[0.22338752855473126]], [[0.22642916879859967]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6347544555664062]], [[0.6043168520459942]], [[0.5684602116603478]]], "std": [[[0.2235221134867707]], [[0.22266761727929343]], [[0.23031008393241972]]], "count": [100]}, "annotation.human.task_description": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [384]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [384]}, "observation.state": {"min": [0.8304688515501285, -1.4155567182759758, 0.6999979675650619, 0.0, 0.0, -1.0, 7.743983587715775e-08, 0.07317077051518872, -0.06762447166544971, 0.23094678864481077, -0.9874847531318665, -0.2571808099746704, -0.16530974209308624, 0.00012142220657551661, 0.00830591156440169, -0.04008463452616823], "max": [0.8314052151301999, -1.4145121253606028, 0.7015389790932701, 0.0, 0.0, 1.0, 0.000613844022154808, 0.584335526836711, 0.29387129514235055, 0.6083109740737302, 0.9876866340637207, 0.1793273240327835, 0.16904900968074799, 0.0543801486492157, 0.04045491363366005, -0.002509912302932368], "mean": [0.8308166014792396, -1.4151807027681145, 0.7005745823788853, 0.0, 0.0, 0.7031249733020862, 0.00019130858016051336, 0.44803994208638903, 0.16118524576209178, 0.3250901536468198, 0.05361512443050742, -0.10716799569005768, 0.00016559219996755323, 0.02237232452059364, 0.031107536774604885, -0.030031365943465473], "std": [0.0003636003467061315, 0.00036249294741877636, 0.000601815358928643, 0.0, 0.0, 0.7110662546648652, 0.00017784083452209844, 0.10874534508362581, 0.1243411853917218, 0.0960822806534167, 0.9729456280285359, 0.1310430677590871, 0.14552383264866064, 0.012931330906980525, 0.011586807578927091, 0.012524823346221655], "count": [384]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6, -0.11142857142857143, -0.04285714285714286, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 1.0, 0.08857142857142856, 0.04857142857142857, 0.12857142857142856, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.024367559523809496, -0.015197172619047593, -0.01023065476190471, 0.0009002976190476188, 0.0018601190476190482, -0.012470238095238097, -0.296875], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3127458619529663, 0.3985592588394241, 0.3617376013169546, 0.01501195130168671, 0.008700955338085067, 0.04578374520627788, 0.9549163494123452], "count": [384]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0416666679084301], "std": [0.19982630014419556], "count": [384]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026041666666666665], "std": [0.05096454633015867], "count": [384]}, "timestamp": {"min": [0.0], "max": [19.15], "mean": [9.575000000000001], "std": [5.542543790234468], "count": [384]}, "frame_index": {"min": [0], "max": [383], "mean": [191.5], "std": [110.85087580468937], "count": [384]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [384]}, "index": {"min": [26566], "max": [26949], "mean": [26757.5], "std": [110.85087580468937], "count": [384]}, "task_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [384]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6503774581609988]], [[0.566244286032284]], [[0.5029717556822534]]], "std": [[[0.18326449090635796]], [[0.201146057410915]], [[0.2127247556711414]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6209119621725643]], [[0.4742307170793122]], [[0.39218901331284467]]], "std": [[[0.1604285077180529]], [[0.20422748908901345]], [[0.23112409435370432]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.050980392156862744]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5931476715686275]], [[0.449409985112209]], [[0.3725899065803079]]], "std": [[[0.16872725017791984]], [[0.20035991924460686]], [[0.22525953046898956]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [346]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [346]}, "observation.state": {"min": [1.0205551767974257, -0.8193027525884107, 0.6999981332640662, 0.0, 0.0, 0.7061873078346252, 0.7070598602294922, 0.14713618477067192, -0.2115582655016368, 0.2297220601734723, -0.99766606092453, -0.1783362627029419, -0.18174754083156586, 0.0031257516238838434, 0.013007049995606436, -0.04000586431999931], "max": [1.0215081328087976, -0.8188562126035392, 0.7009973323799349, 0.0, 0.0, 0.7071536779403687, 0.7080250382423401, 0.5218290999774017, 0.11294326868396709, 0.5995126461347493, -0.978092610836029, 0.043242551386356354, -0.055880043655633926, 0.06280943006277084, 0.040000785775271074, -0.012513484660278972], "mean": [1.021075299263387, -0.8190351387658247, 0.7004469820628837, 0.0, 0.0, 0.7066200354884815, 0.7075930349744124, 0.4478827703584273, -0.06184054342078929, 0.3065849943443876, -0.9900999499883266, -0.03986835445282776, -0.08954771863285861, 0.03064079365674191, 0.03342728823105554, -0.032348533292855156], "std": [0.00030106192713966217, 0.00013679493548263366, 0.00032044269439713186, 0.0, 0.0, 0.0003117044402012007, 0.00031135346909087785, 0.08706809375196367, 0.11015999697159302, 0.09168224631348798, 0.007341228412126738, 0.08857737277671603, 0.028893636931380154, 0.020500476896371134, 0.00863670064118812, 0.00991008582745546], "count": [346]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7071428571428572, -0.7357142857142858, -0.04285714285714286, -0.13714285714285715, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6071428571428572, 0.8642857142857142, 0.9571428571428572, 0.07142857142857142, 0.11714285714285716, 0.08857142857142856, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019591246903385613, 0.01391412056151943, -0.02165565648224601, -0.0009000825763831546, 0.001197357555739059, -0.0009413707679603625, -0.4046242774566474], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26101433107695027, 0.3453987868920855, 0.3137270413367022, 0.011298456102124585, 0.024315682730728903, 0.038916685601711486, 0.9144830201226734], "count": [346]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04624277353286743], "std": [0.21001042425632477], "count": [346]}, "next.done": {"min": [false], "max": [true], "mean": [0.002890173410404624], "std": [0.05368258850001939], "count": [346]}, "timestamp": {"min": [0.0], "max": [17.25], "mean": [8.625], "std": [4.994058970416749], "count": [346]}, "frame_index": {"min": [0], "max": [345], "mean": [172.5], "std": [99.88117940833499], "count": [346]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [346]}, "index": {"min": [26950], "max": [27295], "mean": [27122.5], "std": [99.88117940833499], "count": [346]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [346]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4977625151989507]], [[0.44509285960477946]], [[0.3994451335832184]]], "std": [[[0.2181257779670516]], [[0.2502067642634282]], [[0.27996968046785436]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4891387969372319]], [[0.4864255801930147]], [[0.48368336157705266]]], "std": [[[0.1925692097163511]], [[0.1913354159565889]], [[0.19230988786806802]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46161165244906555]], [[0.45830421776865043]], [[0.4552017971861596]]], "std": [[[0.199431309521297]], [[0.19918685327201557]], [[0.20081252818175305]]], "count": [100]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [449]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [449]}, "observation.state": {"min": [-0.8142092713933029, -1.4586840056387482, 0.6999980901146515, 0.0, 0.0, -0.0008390815928578377, 0.9999996423721313, 0.07421165704778354, -0.1518934578705362, 0.22929448228836047, -0.9936806559562683, -0.7197182178497314, -0.15424899756908417, 0.022989623248577118, 0.002293629384629046, -0.0405377666456977], "max": [-0.8137191639800229, -1.4580634774167518, 0.7007961994088455, 0.0, 0.0, 0.0006373842479661107, 1.0, 0.4689863299829822, 0.18515119799120505, 0.6083201041749549, -0.676342785358429, -0.009814411401748657, 0.08535177260637283, 0.15644045174121857, 0.04001129275459725, -0.007022509791583886], "mean": [-0.8139852128712072, -1.458354810702718, 0.7004362360511217, 0.0, 0.0, -0.0003803843293262981, 0.9999999352181144, 0.32243883780093346, -0.02441237044509772, 0.3236674082543677, -0.8207900046240248, -0.5153547732329581, -0.04763206627965596, 0.06176204409840245, 0.029806400154873864, -0.030696432087842337], "std": [0.00015660574262982779, 0.00012380876351657968, 0.0002563851828544992, 0.0, 0.0, 0.00023269271159289474, 9.537458625939573e-08, 0.08223485533107018, 0.10399154134894596, 0.0830060350655896, 0.110669066119777, 0.19293297018216202, 0.06349011725916029, 0.033587160956134704, 0.013330350164696542, 0.012903957399865983], "count": [449]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571428, -0.8357142857142857, -0.7214285714285715, -0.07714285714285714, -0.14, -0.4742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5071428571428571, 0.9142857142857143, 0.8285714285714285, 0.06, 0.2285714285714286, 0.24571428571428575, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019153674832962157, 0.0003658924594336599, -0.012997136493795667, -4.454342984409839e-05, 0.016964683423480748, -0.004117085587018781, -0.22494432071269488], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24229864487596922, 0.3267263801324667, 0.2496409829589121, 0.015569366692117443, 0.05351246157989559, 0.12903002216554588, 0.9743716193419744], "count": [449]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03563474491238594], "std": [0.18537774682044983], "count": [449]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022271714922048997], "std": [0.04714033516373436], "count": [449]}, "timestamp": {"min": [0.0], "max": [22.4], "mean": [11.200000000000001], "std": [6.48074069840786], "count": [449]}, "frame_index": {"min": [0], "max": [448], "mean": [224.0], "std": [129.6148139681572], "count": [449]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [449]}, "index": {"min": [27296], "max": [27744], "mean": [27520.0], "std": [129.6148139681572], "count": [449]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [449]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6423451274797028]], [[0.4811891515395221]], [[0.38994428387810204]]], "std": [[[0.18580579664863073]], [[0.1644386528347594]], [[0.17381406779051928]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.653160499123966]], [[0.5671244058048024]], [[0.4826439998851103]]], "std": [[[0.23873391418795833]], [[0.22248259016473626]], [[0.243220406521283]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6889775055530024]], [[0.610766009162454]], [[0.5324264239142923]]], "std": [[[0.2008264828009927]], [[0.20806769917923548]], [[0.24407569224419826]]], "count": [100]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [2.0139082813331948, -0.8104960303445068, 0.6999998785795508, 0.0, 0.0, 0.7046725153923035, 0.7071066498756409, 0.22894807347135315, -0.007406721845236053, 0.2349784382255392, -0.997513473033905, -0.0702001303434372, -0.16646407544612885, 0.01121132168918848, 0.01732890576183939, -0.03978615186690964], "max": [2.0177633849256607, -0.8086494049388993, 0.703480626755132, 0.0, 0.0, 0.7071068286895752, 0.7095327377319336, 0.5082145845209987, 0.3293767160614347, 0.5793587828554001, -0.9828566312789917, -0.015305951237678528, -0.04710972681641579, 0.06369079649448395, 0.04067183109335421, -0.006894246497463887], "mean": [2.0156455764729224, -0.8094611599302105, 0.7015463290742131, 0.0, 0.0, 0.7060256353412492, 0.7081850375312259, 0.38364909121096774, 0.19663964958314847, 0.30684450280071507, -0.9941558728655021, -0.03844682768402821, -0.08226042367013327, 0.046904805379797264, 0.03553954225720549, -0.032777539128707435], "std": [0.001518498034116671, 0.0007314195078828845, 0.0013838916534817734, 0.0, 0.0, 0.0009338209654537812, 0.000930737512825246, 0.07191982287118188, 0.09962786488152037, 0.09145714345527738, 0.0031983894901167916, 0.016079976579020508, 0.02846944249611742, 0.011392844966835456, 0.007373107740359663, 0.009783461692523986], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8785714285714286, -1.0, -0.005714285714285714, -0.26571428571428574, -0.017142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714286, 0.8857142857142857, 0.9714285714285714, 0.037142857142857144, 0.12285714285714287, 0.11142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007825839499146253, 0.026579396698918616, -0.0443653955606147, 0.0007398975526465568, -0.003494593056346043, 0.004689812179852019, -0.40239043824701193], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29467994202011544, 0.37314532497272135, 0.3888779719556134, 0.004454711370248381, 0.0349022101412036, 0.01636017196495797, 0.9154681508427123], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06374502182006836], "std": [0.24429816007614136], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [251]}, "index": {"min": [27745], "max": [27995], "mean": [27870.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [251]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6071145743575751]], [[0.5127233467850031]], [[0.43207574462890624]]], "std": [[[0.21556815587250994]], [[0.23709861129028853]], [[0.2671192202697903]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.542599682377834]], [[0.45485789699180457]], [[0.40313044469496784]]], "std": [[[0.21808383270446738]], [[0.2459772205281243]], [[0.25701749187576794]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5775003907446769]], [[0.48824869851505054]], [[0.4371157615512025]]], "std": [[[0.19235196258216047]], [[0.23311555430530165]], [[0.2510525388231239]]], "count": [100]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [2.1084573694488844, -2.3029677472045944, 0.6999994366023062, 0.0, 0.0, -0.7080077528953552, 0.7062047123908997, -0.012040786624789579, -0.02697472020030256, 0.235112384729262, -0.9934900999069214, -0.29073864221572876, -0.20393002033233643, 0.0001968178985407576, 0.020544212991241262, -0.04034679596289073], "max": [2.109659816363, -2.302294985011208, 0.7014286909788592, 0.0, 0.0, -0.7070136070251465, 0.7071999907493591, 0.4167135298075393, 0.29181224208530177, 0.6051575094226663, 0.9932892322540283, 0.2921217679977417, 0.12897293269634247, 0.10823100805282593, 0.03993983357204821, -0.020522347746505996], "mean": [2.109222556992993, -2.302686811095987, 0.7006809832977062, 0.0, 0.0, -0.7073951620029738, 0.7068181344237461, 0.2889246809382571, 0.10367744942808407, 0.32453120498949073, -0.7074435049319172, -0.10883632296347523, -0.0586227904348931, 0.04199187100865642, 0.03730196490565751, -0.035229577509663546], "std": [0.0004101328263234713, 0.0002328168187084268, 0.0005021225127788566, 0.0, 0.0, 0.0003238186508834363, 0.0003242085158394526, 0.07889584214745796, 0.10585715593349888, 0.09244492074339637, 0.663594812437202, 0.16923149819226418, 0.11135142331865627, 0.03289192812544303, 0.004401319758433017, 0.0065450587147539855], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7357142857142858, -0.21142857142857144, -0.1142857142857143, -0.028571428571428574, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 1.0, 1.0, 0.12857142857142856, 0.26, 0.17142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0738474672737621, -0.015224815025611866, -0.04052361980648831, -0.005907797381900973, 0.01524188958451907, 0.01801935116676152, -0.5537848605577689], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.37146091731761915, 0.5350885477319163, 0.3651073270479828, 0.05445166755666623, 0.0495015855748851, 0.04505911358340168, 0.8326597914016336], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06374502182006836], "std": [0.24429816007614136], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [251]}, "index": {"min": [27996], "max": [28246], "mean": [28121.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [251]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4522586035634957]], [[0.4098631442200904]], [[0.35060347433651196]]], "std": [[[0.22195600214556419]], [[0.18145774049052998]], [[0.17234481203456]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6014955450319777]], [[0.5760906096813725]], [[0.5491831629136029]]], "std": [[[0.2805306621954728]], [[0.2936523732496613]], [[0.30794385615354486]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.602494488286037]], [[0.5801433841480929]], [[0.5525648606244256]]], "std": [[[0.2775421346797125]], [[0.2872849437278115]], [[0.29817591981053265]]], "count": [100]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [377]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [377]}, "observation.state": {"min": [0.7942995554940407, -1.516251461821615, 0.6999978539153994, 0.0, 0.0, -1.0, 8.517621807868636e-08, 0.054430779369668336, -0.17371551332628754, 0.22668074150348327, -0.9946231842041016, -0.4837934076786041, -0.13508997857570648, 9.257668352802284e-06, 0.012251341427031253, -0.04074126218828766], "max": [0.7968893947266903, -1.5151159493157984, 0.7044279527148734, 0.0, 0.0, 1.0, 0.0006834593368694186, 0.5377264135975199, 0.08781848888499377, 0.6002365987622044, 0.9766765236854553, 0.2323073297739029, 0.0628814771771431, 0.11070652306079865, 0.04046061746177608, -0.01289808669171319], "mean": [0.795422638481795, -1.5156182599162575, 0.7018573412769072, 0.0, 0.0, 0.3952254189736647, 0.00024689611157357896, 0.420236525261231, -0.040131339230410644, 0.30128505858393945, -0.9369954201207553, -0.05531990954983456, -0.0249980350886929, 0.06915120127052736, 0.033131166301314165, -0.03470954392474983], "std": [0.0009299015009617441, 0.0003737904245202865, 0.001587248364103578, 0.0, 0.0, 0.9185841157795329, 0.00023808676220215332, 0.09314573607113791, 0.09604937874950674, 0.09020832139128185, 0.20249874326846895, 0.26642496374549485, 0.028505822188359172, 0.027783305228131206, 0.00891632872775897, 0.008430631063875212], "count": [377]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8, -0.5857142857142857, -0.07142857142857142, -0.10285714285714286, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8142857142857143, 0.7285714285714285, 0.7428571428571429, -0.0, 0.14, 0.5571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0303334596438045, -0.0069344448654793354, -0.05297461159530119, -0.0038347859037514216, 0.0035619552860932198, -0.011079954528230386, -0.27851458885941643], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35093584205741274, 0.3062788412705176, 0.291577676704079, 0.012417308941030318, 0.029024844218113046, 0.11255764263217162, 0.9604319985259069], "count": [377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04244031757116318], "std": [0.20159152150154114], "count": [377]}, "next.done": {"min": [false], "max": [true], "mean": [0.002652519893899204], "std": [0.05143426904420508], "count": [377]}, "timestamp": {"min": [0.0], "max": [18.8], "mean": [9.4], "std": [5.441507144165116], "count": [377]}, "frame_index": {"min": [0], "max": [376], "mean": [188.0], "std": [108.83014288330233], "count": [377]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [377]}, "index": {"min": [28247], "max": [28623], "mean": [28435.0], "std": [108.83014288330233], "count": [377]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [377]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[0.996078431372549]], [[0.9921568627450981]], [[0.9882352941176471]]], "mean": [[[0.7119834014294194]], [[0.6597888273351332]], [[0.6097598912856158]]], "std": [[[0.1794567815683709]], [[0.19949008053377598]], [[0.23035900685151073]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09019607843137255]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5511092002719056]], [[0.5080610949946385]], [[0.4856686293658088]]], "std": [[[0.20964485561417376]], [[0.22294248776213108]], [[0.2364509557297401]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.09411764705882353]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5709871443206188]], [[0.5257607565487132]], [[0.5003733113606771]]], "std": [[[0.21831961136460507]], [[0.2344906276593375]], [[0.24881458477208432]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [404]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [404]}, "observation.state": {"min": [3.1054279232130235, -0.7920805930778843, 0.6999991019453445, 0.0, 0.0, 0.7069047093391418, 0.7055419087409973, 0.11842329423109976, -0.37440964580421676, 0.23315755460841447, -0.9956249594688416, -0.1727769523859024, -0.2911556661128998, 0.0001859695476014167, 0.020564139938644387, -0.040600214331596794], "max": [3.107290250972095, -0.791352401301332, 0.702179495910977, 0.0, 0.0, 0.7086682319641113, 0.707308828830719, 0.5154049171395492, 0.1525476035947091, 0.6059359070690595, 0.9926744103431702, 0.17701107263565063, 0.20857258141040802, 0.041689883917570114, 0.04022192761452501, -0.02050242062564658], "mean": [3.1061176452730614, -0.7915064164851935, 0.7008990063249386, 0.0, 0.0, 0.707982674241066, 0.7062291952938137, 0.40261744252770765, -0.10567534070342365, 0.3215257312780354, -0.35394046035143406, 0.0069437886560612385, -0.04456837014249056, 0.014585217462286658, 0.03681052119575488, -0.037586267954522086], "std": [0.0007057862759442238, 0.0002220518712239441, 0.0007132338684311635, 0.0, 0.0, 0.0006505891654797595, 0.0006518575419994224, 0.07434376366762176, 0.14622859660511012, 0.09088967150649276, 0.9135354926181878, 0.12304422091543304, 0.1504185400723915, 0.012890107205174584, 0.005126755638156051, 0.0034395308334411985], "count": [404]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8571428571428572, -0.7285714285714285, -0.1, -0.10857142857142858, -0.12857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 1.0, 1.0, 0.05142857142857143, 0.12285714285714287, 0.1, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.030763790664780796, 0.0032708628005657645, -0.01640735502121639, -0.0012942008486562947, -0.0019236209335219247, -0.004823196605374822, -0.3415841584158416], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26602222535525794, 0.3582155539464936, 0.3323783891423416, 0.011850508902046943, 0.028828010308758166, 0.03041994185734926, 0.9398511917954553], "count": [404]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.039603959769010544], "std": [0.19502688944339752], "count": [404]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024752475247524753], "std": [0.0496902472769424], "count": [404]}, "timestamp": {"min": [0.0], "max": [20.15], "mean": [10.075000000000001], "std": [5.831219855227549], "count": [404]}, "frame_index": {"min": [0], "max": [403], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [404]}, "index": {"min": [28624], "max": [29027], "mean": [28825.5], "std": [116.62439710455098], "count": [404]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [404]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6609748948041131]], [[0.5885485115799249]], [[0.5198909271838619]]], "std": [[[0.2083031881812736]], [[0.21687962253337897]], [[0.25564372194651475]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5384437471277573]], [[0.5153931830911075]], [[0.49156980028339464]]], "std": [[[0.26491811410878047]], [[0.25058892722159104]], [[0.2388869581179759]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5096350049785539]], [[0.48632466634114585]], [[0.4633045935537301]]], "std": [[[0.26580338859575425]], [[0.2501365464269577]], [[0.2365184807194198]]], "count": [100]}, "annotation.human.task_description": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [390]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [390]}, "observation.state": {"min": [2.1683431942580045, -0.8311962544433755, 0.699998811973144, 0.0, 0.0, 0.7026832699775696, 0.7071059942245483, 0.13705255889276946, -0.010719342772331775, 0.22864928314007682, -0.9966279864311218, -0.20387962460517883, -0.2077876180410385, 0.00021927757188677788, 0.00989550411176733, -0.03997280192370252], "max": [2.173918073624282, -0.8291651924575942, 0.703604114605445, 0.0, 0.0, 0.7071075439453125, 0.7115027904510498, 0.4278320192434709, 0.2743719115780099, 0.6003617878737744, -0.9667275547981262, 0.027547776699066162, -0.0696968361735344, 0.06854535639286041, 0.04120988433844449, 0.000284402533647161], "mean": [2.1714589411239946, -0.8302316440639215, 0.7019221850210934, 0.0, 0.0, 0.7046772279800513, 0.7095226996984237, 0.3103852438682672, 0.09162196604091005, 0.29969603672026074, -0.9887565848154899, -0.03690122812986374, -0.12128227490645188, 0.025801525740266347, 0.03259530377441773, -0.029029499185880592], "std": [0.0024905763439962234, 0.0007586676419069286, 0.001382908115648565, 0.0, 0.0, 0.0019459704789844543, 0.0019342075309657732, 0.059068784091247974, 0.09539459316886278, 0.08773454535162056, 0.008340867896303636, 0.06408647380574764, 0.033903697840123106, 0.017248216761957758, 0.01137427592150423, 0.014201157447873012], "count": [390]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8285714285714285, -0.5714285714285715, -0.04, -0.10285714285714286, -0.17142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.9714285714285714, 1.0, -0.0, 0.13428571428571429, 0.2, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02228937728937729, 0.03146520146520154, -0.0123626373626374, -0.0005347985347985348, 0.0018241758241758239, 0.0026227106227106217, -0.3333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2510973654914664, 0.3565188669316535, 0.3138785096725787, 0.0038095308537551453, 0.018360893462105905, 0.04845436752518075, 0.9428090415820649], "count": [390]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.041025642305612564], "std": [0.19834955036640167], "count": [390]}, "next.done": {"min": [false], "max": [true], "mean": [0.002564102564102564], "std": [0.0505720074956821], "count": [390]}, "timestamp": {"min": [0.0], "max": [19.45], "mean": [9.725], "std": [5.629146619752116], "count": [390]}, "frame_index": {"min": [0], "max": [389], "mean": [194.5], "std": [112.5829323950423], "count": [390]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [390]}, "index": {"min": [29028], "max": [29417], "mean": [29222.5], "std": [112.5829323950423], "count": [390]}, "task_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [390]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4078409729003906]], [[0.37156677126416976]], [[0.3255190758798637]]], "std": [[[0.2614715251363165]], [[0.20394998789970709]], [[0.17756649278381956]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6175225554821538]], [[0.5601251166848575]], [[0.5478384979846431]]], "std": [[[0.3093447703954264]], [[0.3361386415393267]], [[0.34911218787989995]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6099368184407552]], [[0.5365311315199908]], [[0.5209785581102557]]], "std": [[[0.3076898997818697]], [[0.33501957638129626]], [[0.35022907515508833]]], "count": [100]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [369]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [369]}, "observation.state": {"min": [2.603715806274787, -0.7975552865764675, 0.6999986492515987, 0.0, 0.0, 0.7071013450622559, 0.7061579823493958, 0.09432373340256517, -0.24116682671056688, 0.2268287270440299, -0.999943733215332, -0.20749154686927795, -0.34657126665115356, 0.0001624383294256404, 0.00542197633970073, -0.040622661143473134], "max": [2.6048173498825715, -0.795690395046968, 0.7031967013162944, 0.0, 0.0, 0.7080543637275696, 0.7071121335029602, 0.5192864758295594, 0.01373429634415535, 0.5850160544243815, 0.997927188873291, 0.21438246965408325, 0.2975597381591797, 0.04399794712662697, 0.040002174015084636, -0.014388373803050207], "mean": [2.6041387130472797, -0.7962787009241853, 0.70104960249326, 0.0, 0.0, 0.7076059759147768, 0.7066070342128515, 0.41296463159263014, -0.07704656315520338, 0.30701258924275276, -0.5693590319576626, -0.009901782704724206, -0.03944434937080848, 0.01591122946454285, 0.03379640390160603, -0.035726636534283936], "std": [0.00042928132124347653, 0.0006992578028034946, 0.0011707592972125694, 0.0, 0.0, 0.0003585900589355102, 0.00035903706667235447, 0.08701469051478587, 0.0864187036117211, 0.08452638969163219, 0.812123877846837, 0.055019713978917265, 0.10579955755800913, 0.012542516824908348, 0.009275887243977385, 0.008010780244254074], "count": [369]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8428571428571429, -0.9642857142857144, -0.7857142857142857, -0.07714285714285714, -0.26, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 1.0, 1.0, 0.1142857142857143, 0.15142857142857147, 0.04, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02967479674796751, -0.006891211769260557, -0.021176926054974756, 0.0021602787456445997, -0.008710801393728219, -0.009616724738675957, -0.5121951219512195], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2582546284518457, 0.3513853653233404, 0.3386690387769319, 0.014742258689267242, 0.05122494249606661, 0.027305120363319463, 0.8588691152028783], "count": [369]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04336043447256088], "std": [0.20366714894771576], "count": [369]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027100271002710027], "std": [0.051987333586045736], "count": [369]}, "timestamp": {"min": [0.0], "max": [18.4], "mean": [9.200000000000001], "std": [5.32603667530244], "count": [369]}, "frame_index": {"min": [0], "max": [368], "mean": [184.0], "std": [106.5207335060488], "count": [369]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [369]}, "index": {"min": [29418], "max": [29786], "mean": [29602.0], "std": [106.5207335060488], "count": [369]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [369]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562419499415978]], [[0.37160938158222273]], [[0.263181832706227]]], "std": [[[0.14956346562440015]], [[0.13741721582501115]], [[0.13636533947562007]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.620458205279182]], [[0.5733302672143077]], [[0.5346329686781939]]], "std": [[[0.19689570965320655]], [[0.22222980603735873]], [[0.2435335092969846]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.06274509803921569]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6488547913794425]], [[0.5981760989918429]], [[0.5545316186044731]]], "std": [[[0.160753234500582]], [[0.19615602676329366]], [[0.2232968958347487]]], "count": [100]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [358]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [358]}, "observation.state": {"min": [4.238721419303509, -0.8422622157330113, 0.6999989725932405, 0.0, 0.0, 0.7068431377410889, 0.7066754698753357, 0.08635966137087092, -0.22784038386214345, 0.23251345102089982, -0.9977782964706421, -0.13004249334335327, -0.18681074678897858, 0.0025518701877444983, 0.014206455228657672, -0.039934365917240866], "max": [4.239465726659688, -0.8420433257607781, 0.7005576732958199, 0.0, 0.0, 0.707537829875946, 0.7073703408241272, 0.5280475971048815, 0.0763001747637091, 0.6067917126470422, -0.9734507203102112, 0.11003489792346954, 0.025229481980204582, 0.08539785444736481, 0.04000721199251056, -0.020514835955889085], "mean": [4.239102301977523, -0.8421792442023751, 0.7003404884475176, 0.0, 0.0, 0.7071856346876262, 0.7070278939921096, 0.4017784876636487, -0.05612450026824687, 0.3326777592542779, -0.9882867602662667, -0.04920794454783035, -0.10333055141349401, 0.03974041956354599, 0.03450828844214126, -0.03653369029287461], "std": [0.0001889701028768831, 8.038973308220198e-05, 0.00022448747568777524, 0.0, 0.0, 0.00017223356780584728, 0.00017229494058992786, 0.09561062364085975, 0.10246698514546194, 0.08716649013583254, 0.005429627518018928, 0.0685873316568723, 0.05837075517101221, 0.021691000324772926, 0.008640344826200795, 0.005050284105193121], "count": [358]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.04285714285714286, -0.18, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 1.0, 1.0, 0.045714285714285714, 0.15714285714285714, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02721468475658416, -0.01139265762170787, -0.010814046288906596, -0.0010933758978451714, 0.005299281723862728, -0.00575418994413408, -0.5642458100558659], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.33030897575967316, 0.3815178207242397, 0.316072568244909, 0.010248950688284382, 0.046283971996652296, 0.03183117669117873, 0.8256068470127919], "count": [358]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.044692736119031906], "std": [0.20662839710712433], "count": [358]}, "next.done": {"min": [false], "max": [true], "mean": [0.002793296089385475], "std": [0.05277777549634409], "count": [358]}, "timestamp": {"min": [0.0], "max": [17.85], "mean": [8.924999999999999], "std": [5.167264750329713], "count": [358]}, "frame_index": {"min": [0], "max": [357], "mean": [178.5], "std": [103.34529500659427], "count": [358]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [358]}, "index": {"min": [29787], "max": [30144], "mean": [29965.5], "std": [103.34529500659427], "count": [358]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [358]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5795485391055837]], [[0.4817838134765625]], [[0.40705611703910083]]], "std": [[[0.1725287658136465]], [[0.19004177240964215]], [[0.2188206931753689]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6039564244887408]], [[0.5551312004538144]], [[0.5000542219573376]]], "std": [[[0.17323951214954278]], [[0.1886551419648027]], [[0.20639653836243538]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739290801403569]], [[0.5310309783337163]], [[0.48092111565085016]]], "std": [[[0.1701470959219853]], [[0.18877610608278236]], [[0.20732738322228075]]], "count": [100]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [327]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [327]}, "observation.state": {"min": [3.122816422659963, -5.027600880506279, 0.699998464276295, 0.0, 0.0, -1.0, 0.0, 0.18742769393958092, -0.2509941031977432, 0.23077902022536723, -0.9992053508758545, -0.3697654902935028, -0.12340151518583298, 0.004753137473016977, 0.02054667380939232, -0.04048964347964537], "max": [3.123480303356784, -5.02667209184311, 0.701033018110515, 0.0, 0.0, 1.0, 0.0014756136806681752, 0.5346521592057814, 0.04749192790544843, 0.5929973636102805, -0.9221183061599731, 0.003909692168235779, -0.02272186428308487, 0.06642800569534302, 0.040168117385616306, -0.018367255422246962], "mean": [3.1232110440786522, -5.027130301254739, 0.700596926413038, 0.0, 0.0, 0.7125378621098463, 0.000720210742023043, 0.4150666225863162, -0.10394142107287001, 0.3409815740717013, -0.9717270110360708, -0.1496441530502353, -0.08822868788324364, 0.03380669468005589, 0.03636353053818923, -0.03640842963278192], "std": [0.00023957291064727356, 0.00030447496479739074, 0.00037523427717372376, 0.0, 0.0, 0.7016331425185897, 0.0005063797174289663, 0.09159824240668145, 0.10279119189430211, 0.09162145231903544, 0.028189504868993062, 0.15017991158017932, 0.029161661029694867, 0.015066215547931803, 0.006276586602078109, 0.006837315492429399], "count": [327]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7642857142857143, -0.5642857142857142, -0.1142857142857143, -0.13714285714285715, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7642857142857143, 0.8857142857142857, 1.0, 0.09714285714285714, 0.15428571428571428, 0.23428571428571432, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011380515508955844, 0.002621231979030102, -0.007077326343381403, 0.0032328527741371784, 0.0024814329401485345, 0.0023940585408475322, -0.43730886850152906], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3402406957932722, 0.36592947642590407, 0.31648101698680764, 0.019790669838033827, 0.035843225719104484, 0.07759417030424764, 0.8993113774049083], "count": [327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048929665237665176], "std": [0.2157209813594818], "count": [327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030581039755351682], "std": [0.055215504847913724], "count": [327]}, "timestamp": {"min": [0.0], "max": [16.3], "mean": [8.15], "std": [4.7198163806091715], "count": [327]}, "frame_index": {"min": [0], "max": [326], "mean": [163.0], "std": [94.39632761218344], "count": [327]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [327]}, "index": {"min": [30145], "max": [30471], "mean": [30308.0], "std": [94.39632761218344], "count": [327]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [327]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5265671135397518]], [[0.441749626010072]], [[0.37831423112457874]]], "std": [[[0.18884735330899996]], [[0.217844114020919]], [[0.22725267882393588]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.043137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4891451691272212]], [[0.5054306826124004]], [[0.44049516086952356]]], "std": [[[0.20631348051405538]], [[0.17843277115899586]], [[0.18702404330001865]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420571139466528]], [[0.5551993126962699]], [[0.48493691837086395]]], "std": [[[0.22036374331395825]], [[0.18478296078468556]], [[0.2012300456008465]]], "count": [100]}, "annotation.human.task_description": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [257]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [257]}, "observation.state": {"min": [2.3690927342977655, -1.4877677520546293, 0.6999986580300583, 0.0, 0.0, -0.7087904810905457, 0.7054190635681152, 0.030188423972230982, -0.2642813735175409, 0.228833460986274, -0.9935256838798523, -0.3248693346977234, -0.28708505630493164, 1.5797937521710992e-05, 0.02052561702335001, -0.0406745743250584], "max": [2.3707564937450245, -1.4873550637135535, 0.7022784848721102, 0.0, 0.0, -0.7070633172988892, 0.7071502208709717, 0.479815512968889, 0.14486428561566678, 0.5933035051744522, 0.9979380965232849, 0.283594012260437, 0.2836473882198334, 0.04305524751543999, 0.04042918800896445, -0.020540943368965284], "mean": [2.370055897560154, -1.4875204445803618, 0.7011170259117455, 0.0, 0.0, -0.7078594205908274, 0.706352703998061, 0.3576732740865071, -0.04401527595265817, 0.3273921974084525, -0.3876688294837447, -0.1324557719701459, 0.019771395026676037, 0.016015173731961086, 0.03626262027473043, -0.03759782755001564], "std": [0.0006768119405114021, 0.00013248921955165204, 0.0008535931519786532, 0.0, 0.0, 0.0006628712789187948, 0.0006644873298917575, 0.09455220843506311, 0.1084538887343693, 0.09326133660310386, 0.8842151297591944, 0.1981252413302016, 0.10134617127224772, 0.012645135358336137, 0.005332330078050433, 0.003387998502531666], "count": [257]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.09142857142857143, -0.2857142857142857, -0.06857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8357142857142857, 1.0, 0.7928571428571428, 0.10571428571428572, 0.17142857142857143, 0.09714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.10364091161756533, 0.0030850472484713525, -0.07865480822679256, 0.002568093385214008, -0.018832684824902732, 0.010661478599221801, -0.6186770428015564], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4117107267977579, 0.44423324777155593, 0.3629322219109401, 0.016440464699334675, 0.07557106261787933, 0.040262173730046785, 0.7856454141088831], "count": [257]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06225680932402611], "std": [0.24162138998508453], "count": [257]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038910505836575876], "std": [0.062256809338521395], "count": [257]}, "timestamp": {"min": [0.0], "max": [12.8], "mean": [6.399999999999999], "std": [3.7094473981982814], "count": [257]}, "frame_index": {"min": [0], "max": [256], "mean": [128.0], "std": [74.18894796396563], "count": [257]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [257]}, "index": {"min": [30472], "max": [30728], "mean": [30600.0], "std": [74.18894796396563], "count": [257]}, "task_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [257]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548817585066253]], [[0.48972677911496626]], [[0.4398968864889706]]], "std": [[[0.12532379522351866]], [[0.12360264761477417]], [[0.13047829722784965]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6226345310585171]], [[0.601587667427811]], [[0.5787111720664828]]], "std": [[[0.22437629449474014]], [[0.23729807064602723]], [[0.2515818440365171]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.574862818699257]], [[0.5549783762015548]], [[0.5349211461684282]]], "std": [[[0.2525605760303501]], [[0.2605830889689413]], [[0.2703148572559143]]], "count": [100]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [412]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [412]}, "observation.state": {"min": [4.878766063975056, -1.7070386006426075, 0.6999977305998618, 0.0, 0.0, -0.0028476566076278687, 0.9999959468841553, 0.079020777632139, 0.0007857949394516339, 0.22673637322512985, -0.9945403337478638, -0.6006999611854553, -0.15541872382164001, 0.0002763802476692945, 0.020532200363193066, -0.040228565118433736], "max": [4.879985931127817, -1.7039566993312338, 0.7037182539209346, 0.0, 0.0, 0.0006903983885422349, 1.0, 0.6122720507800636, 0.3867966741388802, 0.6042761450775601, 0.9266106486320496, 0.6003418564796448, 0.12517403066158295, 0.29365643858909607, 0.04147828867267619, -0.011163874936940064], "mean": [4.879177825917342, -1.7057555367797579, 0.7025134770010342, 0.0, 0.0, -0.001381328829391967, 0.9999981910279654, 0.43818383171601966, 0.12926189429550783, 0.31029701134564225, -0.6964932186800299, 0.1602926260240159, 0.006196759959758548, 0.060108325847871576, 0.037623050702544646, -0.03495033843494185], "std": [0.0004685317135371658, 0.001266935794097312, 0.0014796740064534093, 0.0, 0.0, 0.0013288938371016814, 1.5374240637618102e-06, 0.10455108672550266, 0.11365720717991323, 0.07188520151222255, 0.609403342946766, 0.3256052124699445, 0.06440186084449376, 0.06335045907914087, 0.005634271588499822, 0.008189587398092165], "count": [412]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.17142857142857143, -0.15714285714285714, -0.24571428571428575, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2571428571428571, 0.17142857142857143, 0.34, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04559639389736474, 0.0016296809986130348, -0.0754160887656034, 0.00887656033287101, -0.0007905686546463242, -0.004826629680998608, -0.5922330097087378], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4741128200013485, 0.47635343057549157, 0.35882606162761976, 0.05850310635307875, 0.051941588321864185, 0.0942130002688029, 0.8057667542231615], "count": [412]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03883495181798935], "std": [0.1932014673948288], "count": [412]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024271844660194173], "std": [0.04920663818619731], "count": [412]}, "timestamp": {"min": [0.0], "max": [20.55], "mean": [10.275], "std": [5.946690255932286], "count": [412]}, "frame_index": {"min": [0], "max": [411], "mean": [205.5], "std": [118.93380511864572], "count": [412]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [412]}, "index": {"min": [30729], "max": [31140], "mean": [30934.5], "std": [118.93380511864572], "count": [412]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [412]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.610368444704542]], [[0.5696799124923407]], [[0.5305379112094056]]], "std": [[[0.2222396168287262]], [[0.2615869495597345]], [[0.30244453891510453]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4529596737132353]], [[0.4919918990789675]], [[0.49851392259784777]]], "std": [[[0.26209896053112014]], [[0.21964718202516048]], [[0.21417091428733126]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.10196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4325420346727558]], [[0.46835106344784005]], [[0.4740948229023054]]], "std": [[[0.24587769184923228]], [[0.20789158869237795]], [[0.20425582396873043]]], "count": [100]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [331]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [331]}, "observation.state": {"min": [2.3589441089131866, -0.8493337433103276, 0.7000000210276607, 0.0, 0.0, 0.7055662870407104, 0.7070807218551636, 0.14991354595462847, -0.20917996075530398, 0.2320609255607179, -0.9902377724647522, -0.0507819801568985, -0.27562177181243896, 4.7282697778427973e-05, 0.020558209682128646, -0.04052494315159971], "max": [2.360797690093995, -0.8476654231788838, 0.7025252445343682, 0.0, 0.0, 0.7071327567100525, 0.7086439728736877, 0.40758332976396133, 0.15932433161942194, 0.5903706418417302, 0.9592382311820984, 0.04202786087989807, 0.2941668927669525, 0.07859649509191513, 0.040306151657752885, -0.012984336142520968], "mean": [2.359479910107518, -0.8481223159447979, 0.700736289262137, 0.0, 0.0, 0.7066615331929256, 0.7075512373195314, 0.35478170215272653, -0.01861467378530852, 0.3262898864604207, -0.9273486409302565, -0.0362643194342668, -0.14060885155309003, 0.0351874149283061, 0.036531536944740615, -0.03577808012349437], "std": [0.000696875325246195, 0.0006542864039940032, 0.0009574474389696937, 0.0, 0.0, 0.0005977269680859701, 0.0005964716965929818, 0.04969702204789282, 0.10239845224295978, 0.08819595623782382, 0.33249586189993285, 0.015444591363723552, 0.07981591058305376, 0.02319003290760687, 0.005055153170942004, 0.008049068055576777], "count": [331]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7071428571428572, -0.7428571428571429, -0.5785714285714286, -0.08571428571428572, -0.12, -0.022857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4, 0.8642857142857142, 0.6857142857142858, 0.06285714285714286, 0.014285714285714287, 0.03142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02447129909365557, 0.006193353474320265, -0.03461372464393622, -0.0006905481225722915, -0.005524384980578335, 3.45274061286146e-05, -0.4743202416918429], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19296019264310094, 0.2982598872345372, 0.2860882161394091, 0.020025672315812582, 0.018519423726622117, 0.002869853735505616, 0.8803523773588592], "count": [331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04833836853504181], "std": [0.2144802361726761], "count": [331]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030211480362537764], "std": [0.05488187953046813], "count": [331]}, "timestamp": {"min": [0.0], "max": [16.5], "mean": [8.25], "std": [4.777551674236501], "count": [331]}, "frame_index": {"min": [0], "max": [330], "mean": [165.0], "std": [95.55103348473003], "count": [331]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [331]}, "index": {"min": [31141], "max": [31471], "mean": [31306.0], "std": [95.55103348473003], "count": [331]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [331]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43076802990483304]], [[0.35105731261010265]], [[0.323958464977788]]], "std": [[[0.2435597895409311]], [[0.2053417369580549]], [[0.17238850820771315]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39279496316348805]], [[0.342214256735409]], [[0.30781081973805147]]], "std": [[[0.2084256860539934]], [[0.20339209940899564]], [[0.20676084998958255]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3615123201258042]], [[0.33264106660730697]], [[0.31334140672870714]]], "std": [[[0.225593801321571]], [[0.21787286646984108]], [[0.21467268367043013]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [456]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [456]}, "observation.state": {"min": [2.6669428276890454, -4.472454103171525, 0.6999999368187634, 0.0, 0.0, 0.7057163715362549, 0.7070895433425903, 0.18514379924537305, -0.2844761760435799, 0.2298559125951135, -0.9977110624313354, -0.33575600385665894, -0.16385355591773987, 0.010442336089909077, 0.015519085075628885, -0.04024705407099133], "max": [2.6683626137779926, -4.471115555165123, 0.7032923331361118, 0.0, 0.0, 0.7071239352226257, 0.7084944248199463, 0.3881405764044068, 0.0859209847765241, 0.611761879914194, -0.9320439100265503, 0.01762419193983078, 0.13316552340984344, 0.06455773115158081, 0.04005833303207984, -0.020497260316936994], "mean": [2.6674334438224663, -4.471623411017657, 0.7012239029733099, 0.0, 0.0, 0.7065727159119489, 0.7076400522338716, 0.3173292824325631, -0.047107985170354916, 0.31357455777155974, -0.97212021431902, -0.17003754750220923, 0.05485706299588313, 0.04328066068333819, 0.03188976229076892, -0.03597043875865191], "std": [0.0005278679607622544, 0.0005020935683890368, 0.0012723560422219227, 0.0, 0.0, 0.0005111956286216537, 0.000510233207121765, 0.050112375683758516, 0.11958869422039979, 0.08792072130003206, 0.027597904873605764, 0.12458470387706425, 0.06921587726236851, 0.010638461718935024, 0.008911547117257756, 0.006116316089874234], "count": [456]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.9857142857142858, -0.6928571428571428, -0.04, -0.06285714285714286, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35000000000000003, 1.0, 0.9285714285714287, 0.04857142857142857, 0.08857142857142856, 0.2485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00625000000000001, 0.007487468671679194, -0.03176691729323313, 0.00011904761904761871, 0.010338345864661657, -0.00040726817042607236, -0.31140350877192985], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1435875262955038, 0.34749965847871317, 0.3270554436974185, 0.008057047242244188, 0.022847587783196698, 0.056201477404619136, 0.9502777776653208], "count": [456]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.035087719559669495], "std": [0.18400155007839203], "count": [456]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021929824561403508], "std": [0.04677791449057356], "count": [456]}, "timestamp": {"min": [0.0], "max": [22.75], "mean": [11.375], "std": [6.581777242255063], "count": [456]}, "frame_index": {"min": [0], "max": [455], "mean": [227.5], "std": [131.63554484510126], "count": [456]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [456]}, "index": {"min": [31472], "max": [31927], "mean": [31699.5], "std": [131.63554484510126], "count": [456]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [456]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6806480090571385]], [[0.5968329425886566]], [[0.5481305853151808]]], "std": [[[0.22151335987099308]], [[0.2910194293710767]], [[0.34087023191314203]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6232031626981848]], [[0.5997891678155638]], [[0.5885846102845436]]], "std": [[[0.23935743152978184]], [[0.26481892578290656]], [[0.27482422697740594]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6101657068589154]], [[0.586711809943704]], [[0.5751076199400659]]], "std": [[[0.25669120694963155]], [[0.28209044412665724]], [[0.28922682162960633]]], "count": [100]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [316]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [316]}, "observation.state": {"min": [5.122188766169238, -2.6724806989996357, 0.6999995549005352, 0.0, 0.0, -0.7078260183334351, 0.706386923789978, 0.04733641773561592, -0.20663282878720057, 0.2286288203766319, -0.9997249841690063, -0.12689965963363647, -0.137815922498703, 0.0005245570209808648, 0.011492014799406336, -0.03998577768825915], "max": [5.123492542424808, -2.6711764589008578, 0.7025723173429128, 0.0, 0.0, -0.7066776156425476, 0.7075356841087341, 0.3583398375577258, 0.21502828056130063, 0.5977165699122455, 0.9991550445556641, 0.039244644343853, 0.17816846072673798, 0.032523609697818756, 0.040640516754757064, -0.018743182503900988], "mean": [5.122906213717755, -2.671938116000239, 0.701123906922211, 0.0, 0.0, -0.707326964298381, 0.7068863318690771, 0.3068262457267334, 0.03094930040618737, 0.30332487416605053, 0.12346178613886048, -0.06175033032564046, 0.016401490696692615, 0.02091893767315417, 0.03648054974427052, -0.035990680317313846], "std": [0.00045503602365018703, 0.00048544335859817455, 0.000947295742965823, 0.0, 0.0, 0.0003665695996491604, 0.0003667310901213553, 0.05295124289253163, 0.1256973874240619, 0.08721068087311963, 0.9875998848852943, 0.047387390084398844, 0.051051767819304414, 0.005665427153967931, 0.007406854936747596, 0.006025744183229588], "count": [316]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9928571428571428, -1.0, -0.9071428571428573, -0.09428571428571429, -0.18, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3, 1.0, 0.8857142857142857, 0.037142857142857144, 0.11714285714285716, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.042133815551537036, -0.0011075949367088727, -0.02902350813743219, -0.0025316455696202536, 0.0001989150090415873, -0.0029475587703435787, -0.620253164556962], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2392977782624818, 0.3883103234622262, 0.36889058782627493, 0.012196084525874033, 0.045867867114635176, 0.03264919001263449, 0.7844016903711248], "count": [316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050632912665605545], "std": [0.21924692392349243], "count": [316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031645569620253164], "std": [0.05616531439651534], "count": [316]}, "timestamp": {"min": [0.0], "max": [15.75], "mean": [7.875], "std": [4.561044288318191], "count": [316]}, "frame_index": {"min": [0], "max": [315], "mean": [157.5], "std": [91.22088576636384], "count": [316]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [316]}, "index": {"min": [31928], "max": [32243], "mean": [32085.5], "std": [91.22088576636384], "count": [316]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [316]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6978313981598498]], [[0.6591367594401042]], [[0.621323590446921]]], "std": [[[0.19976416060819435]], [[0.22209825541973188]], [[0.24054404116916167]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06666666666666667]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45548771757238055]], [[0.42226834525314033]], [[0.404152494542739]]], "std": [[[0.26676309296343537]], [[0.26348200361759644]], [[0.26905667624782664]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.488619140625]], [[0.4571053239410999]], [[0.4410463562011719]]], "std": [[[0.2819659107032972]], [[0.2835427693462678]], [[0.2899744791331092]]], "count": [100]}, "annotation.human.task_description": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [332]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [332]}, "observation.state": {"min": [2.510035303063183, -1.7286054151511123, 0.6999989840117752, 0.0, 0.0, -0.00041963846888393164, 1.0, -0.028176535020493, -0.08756323190373316, 0.22855301587407462, -0.9967520236968994, -0.34104007482528687, -0.16255585849285126, 6.746831786585972e-05, 0.012116212339824817, -0.040647105343267306], "max": [2.511514879454609, -1.7280387672613915, 0.7027330016316505, 0.0, 0.0, 0.00015401076234411448, 1.0, 0.41285865589733906, 0.2032679734184395, 0.6099105805835673, 0.9785822033882141, 0.28931787610054016, 0.06633822619915009, 0.06642536073923111, 0.04000459527931663, -0.02053471729118352], "mean": [2.510969803144718, -1.7282455115780333, 0.7010481971517626, 0.0, 0.0, -0.0001301143575943455, 1.0, 0.30977706097152674, 0.05899691037171335, 0.32888834536220996, -0.7131186578288136, -0.08633820557719972, -0.06982251037636643, 0.030679699862059394, 0.034290728259468085, -0.034767297351702905], "std": [0.0005519457382044254, 0.0001756949312397702, 0.0009950035709510585, 0.0, 0.0, 0.00015307783886731803, 0.0, 0.0832500255135239, 0.1063328272169148, 0.10539394355669959, 0.6636110145794404, 0.1817881691515285, 0.06589424325216886, 0.020554937135528046, 0.00705115026065206, 0.006242722794587728], "count": [332]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9142857142857143, -0.8642857142857142, -0.7928571428571428, -0.08571428571428572, -0.037142857142857144, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3428571428571429, 0.9214285714285714, 0.9285714285714287, 0.06571428571428571, 0.08571428571428572, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.056777108433734964, -0.024354561101549016, -0.023601549053356326, -0.003390705679862306, 0.006445783132530117, 0.008932874354561091, -0.3493975903614458], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2771023893609079, 0.34762805128689966, 0.3418989124240593, 0.017914655533401387, 0.01757294534111512, 0.04803047111541713, 0.9369745588059538], "count": [332]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048192769289016724], "std": [0.21417337656021118], "count": [332]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030120481927710845], "std": [0.05479941385138629], "count": [332]}, "timestamp": {"min": [0.0], "max": [16.55], "mean": [8.275], "std": [4.791985496639154], "count": [332]}, "frame_index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [332]}, "index": {"min": [32244], "max": [32575], "mean": [32409.5], "std": [95.83970993278308], "count": [332]}, "task_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [332]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34333332076727174]], [[0.2974775432511872]], [[0.2587791209501379]]], "std": [[[0.18356272937696574]], [[0.15743203036132927]], [[0.14081545365915288]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5566964374617035]], [[0.5130646787157246]], [[0.4808233169854856]]], "std": [[[0.25469459873649886]], [[0.2572170403213072]], [[0.2667900619279246]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48541693055395985]], [[0.4379576374128753]], [[0.40478697354185816]]], "std": [[[0.275073761449647]], [[0.2781534675506526]], [[0.2900643393838439]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [2.6631459657785115, -4.53036910982055, 0.6999979219305735, 0.0, 0.0, 0.7070102095603943, 0.70554518699646, 0.1792751758377129, -0.3299275390950638, 0.22837010899267907, -0.9993372559547424, -0.33711937069892883, -0.1142435073852539, 9.183288966596592e-06, 0.020565874473383376, -0.04084462573518645], "max": [2.665100986307854, -4.529800472536019, 0.7015046073874556, 0.0, 0.0, 0.7086648941040039, 0.7072033882141113, 0.5057203059475031, 0.14573499387944722, 0.5846984770392055, 0.9991487264633179, 0.14125430583953857, 0.06120484694838524, 0.039674706757068634, 0.04000069938703575, -0.020500686204545898], "mean": [2.66394491435101, -4.530144944197304, 0.7009146857249993, 0.0, 0.0, 0.7079253105600928, 0.7062868517675217, 0.38808893675438116, -0.054523709907456, 0.31794822957285435, -0.7430727398319609, -0.05254795007217841, -0.03383262736287567, 0.01670245956024324, 0.03407915823877963, -0.035807696644787654], "std": [0.0006857024108695679, 0.00021329735275258185, 0.0005784474650668171, 0.0, 0.0, 0.0005602541680777243, 0.0005613762350078933, 0.08020433949962089, 0.16527123963860516, 0.07059494687558439, 0.6461533876326296, 0.1586523595836271, 0.02909699521914151, 0.011251198323627296, 0.0068167647591637235, 0.005506584528514952], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7642857142857143, -1.0, -1.0, -0.09714285714285714, -0.19714285714285715, -0.2542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7642857142857143, 1.0, 1.0, 0.02, 0.28, 0.38857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010646041856232944, 0.007165605095541407, -0.054777070063694325, -0.0039945404913557785, 0.008853503184713375, -0.006878980891719746, -0.2802547770700637], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28364425029760654, 0.5682914050217478, 0.3260733941929556, 0.014046439156252909, 0.04411792437931494, 0.11135993565858, 0.9599256533343663], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05095541477203369], "std": [0.21990668773651123], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [314]}, "index": {"min": [32576], "max": [32889], "mean": [32732.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [314]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6637520805807674]], [[0.6401790478276271]], [[0.6018213034237132]]], "std": [[[0.20237631540992718]], [[0.201438314419535]], [[0.22720156194318136]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.06274509803921569]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.518906790340648]], [[0.4536760223987056]], [[0.42582540773877914]]], "std": [[[0.24175612437606267]], [[0.24822759564680114]], [[0.25915249011586045]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.08627450980392157]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5163045881682752]], [[0.4631175064386106]], [[0.4386765208524816]]], "std": [[[0.26402033970876804]], [[0.2695483966421037]], [[0.2787834374311017]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [307]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [307]}, "observation.state": {"min": [1.7200654491778136, -0.7994677192931829, 0.6999973132392526, 0.0, 0.0, 0.7070293426513672, 0.7068889141082764, 0.08981665920814108, -0.12031076426410148, 0.24136452562914235, -0.9919007420539856, -0.11283273994922638, -0.23818090558052063, 0.004328112583607435, 0.015054742337929675, -0.04015348515764269], "max": [1.7203853516017662, -0.799080071048667, 0.7007567511303726, 0.0, 0.0, 0.7073246836662292, 0.7071843147277832, 0.5515020684623777, 0.11663718039546644, 0.5867765171029541, -0.9701428413391113, 0.04490552842617035, -0.1166994571685791, 0.039414092898368835, 0.04000241276370917, -0.020498730005322756], "mean": [1.7202230244904395, -0.7993060310376411, 0.7004555117546548, 0.0, 0.0, 0.7071693446426516, 0.7070442024581983, 0.4304546613890365, -0.003895862102229616, 0.3403021307979662, -0.9874956823327254, -0.06331593104022333, -0.13285974206870077, 0.0320599384360161, 0.03535002469627079, -0.03593394551456911], "std": [7.805239886636289e-05, 0.00012668406192837682, 0.0002692893519033147, 0.0, 0.0, 6.382666818432157e-05, 6.381491398494346e-05, 0.1000732375343236, 0.07928094188018384, 0.10166484306150513, 0.00286931727138094, 0.04329774993845059, 0.014027736142884177, 0.009171767882229643, 0.007322107336645213, 0.0051957979021647555], "count": [307]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6714285714285714, -0.028571428571428574, -0.15714285714285714, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6142857142857143, 0.8857142857142857, 1.0, 0.037142857142857144, 0.08571428571428572, 0.08, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03562121917170779, -0.0065379246161005045, -0.0014657980456025796, -0.00019543973941368078, -0.0034806886924150767, -0.004150767798976267, -0.48534201954397393], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3508756645150375, 0.30609699923146944, 0.35174281228338733, 0.004547060219750167, 0.025227478189289464, 0.0273960492134591, 0.8743243814883442], "count": [307]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05211726203560829], "std": [0.22226347029209137], "count": [307]}, "next.done": {"min": [false], "max": [true], "mean": [0.003257328990228013], "std": [0.05697998594311369], "count": [307]}, "timestamp": {"min": [0.0], "max": [15.3], "mean": [7.65], "std": [4.431139808220905], "count": [307]}, "frame_index": {"min": [0], "max": [306], "mean": [153.0], "std": [88.6227961644181], "count": [307]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [307]}, "index": {"min": [32890], "max": [33196], "mean": [33043.0], "std": [88.6227961644181], "count": [307]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [307]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5863251803529028]], [[0.537907335468367]], [[0.5011048117244945]]], "std": [[[0.2498263786572522]], [[0.27919717075499956]], [[0.312747298231373]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498349244360831]], [[0.5272582792394301]], [[0.5196040876799939]]], "std": [[[0.22395577641242606]], [[0.23501422713371614]], [[0.2386571187005141]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679778645833333]], [[0.5415205347397749]], [[0.5315728394751454]]], "std": [[[0.2291766838859704]], [[0.24424261835589353]], [[0.24778056761413306]]], "count": [100]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [393]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [393]}, "observation.state": {"min": [2.2908828357935755, -0.8411643894467402, 0.6999936424739651, 0.0, 0.0, 0.7047597169876099, 0.707053005695343, 0.11217515898809616, -0.2769108108474674, 0.2415694150154758, -0.9929614067077637, -0.3868892788887024, -0.21626926958560944, 0.017247408628463745, 0.012774403962410455, -0.0399196974191913], "max": [2.2931240571131166, -0.8403292355237656, 0.7012094456431865, 0.0, 0.0, 0.7071605324745178, 0.7094460725784302, 0.3806569737567878, 0.1952375500642014, 0.5968675335266685, -0.9175020456314087, 0.10272854566574097, 0.00047306856140494347, 0.10085274279117584, 0.04005083513905002, -0.008919892001613758], "mean": [2.291382197958178, -0.8405567870541413, 0.7002881990167565, 0.0, 0.0, 0.706547202651434, 0.7076651118790527, 0.2684647328658402, -0.0845824474687839, 0.33510541473177585, -0.9703530412897202, -0.12658386929647916, -0.1091299195511169, 0.046288831979415496, 0.034385154490612094, -0.033598996813985], "std": [0.0006768503957161029, 0.0002825385895563268, 0.0004288246210964736, 0.0, 0.0, 0.0007488920482986253, 0.000746694766944819, 0.05876552718626195, 0.14950897862490503, 0.10258989731485468, 0.02338639113831476, 0.16200425178585753, 0.03386404249517272, 0.020010803610224778, 0.008607408769617998, 0.009475866812046067], "count": [393]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -1.0, -0.7571428571428572, -0.045714285714285714, -0.20857142857142857, -0.17142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8214285714285715, 0.9071428571428573, 0.9642857142857144, 0.08857142857142856, 0.18571428571428572, 0.36, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.014612868047982532, 0.0055252635405307155, -0.010505270810614307, 0.00040712468193384216, 0.007982551799345693, 0.011043256997455472, -0.25699745547073793], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25845146835749855, 0.43776887816766874, 0.3222544649229836, 0.011964896776321522, 0.047807472793158605, 0.10809225338852455, 0.9664120797473331], "count": [393]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.040712468326091766], "std": [0.19762328267097473], "count": [393]}, "next.done": {"min": [false], "max": [true], "mean": [0.002544529262086514], "std": [0.05037910909217133], "count": [393]}, "timestamp": {"min": [0.0], "max": [19.6], "mean": [9.799999999999999], "std": [5.672448031200169], "count": [393]}, "frame_index": {"min": [0], "max": [392], "mean": [196.0], "std": [113.44896062400336], "count": [393]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [393]}, "index": {"min": [33197], "max": [33589], "mean": [33393.0], "std": [113.44896062400336], "count": [393]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [393]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396828966327741]], [[0.36642154110179226]], [[0.2740986058852252]]], "std": [[[0.13245942600889252]], [[0.11754163892476618]], [[0.14383277172123127]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.07450980392156863]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5368508306765089]], [[0.44887622728534776]], [[0.39663044529335173]]], "std": [[[0.16202742923596053]], [[0.1830131223612371]], [[0.20026048049621897]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.0784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5657007859173943]], [[0.4631254739200367]], [[0.4069504358628217]]], "std": [[[0.1390529266062672]], [[0.1830984237336032]], [[0.20969052696409157]]], "count": [100]}, "annotation.human.task_description": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [319]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [319]}, "observation.state": {"min": [3.5828187386167074, -2.6396523810548156, 0.6999969469524335, 0.0, 0.0, -0.7072664499282837, 0.7069470882415771, 0.0100167758989258, -0.21206087543719088, 0.2280883820339088, -0.9996342658996582, -0.10009059309959412, -0.14929278194904327, 5.633812543237582e-05, 0.006103146879793397, -0.04000269777352174], "max": [3.583049907998615, -2.6383097062090886, 0.7019748954405409, 0.0, 0.0, -0.706861674785614, 0.7073517441749573, 0.48412556150055286, 0.2478063205445813, 0.5788184152304456, 0.9996519088745117, 0.16803064942359924, 0.19464465975761414, 0.0351283997297287, 0.04047898500821671, -0.00629532496997551], "mean": [3.582940034977802, -2.6393405784642088, 0.70050542335553, 0.0, 0.0, -0.7071117052463902, 0.7071018254495339, 0.37125250866756904, 0.05243146683090949, 0.31903914676704703, 0.33430679147146336, 0.0019060841127996535, -0.009481544681564908, 0.016336790326717972, 0.03368637798041299, -0.03345611759422954], "std": [4.4845265098505805e-05, 0.0004701039766855349, 0.0007255768542108468, 0.0, 0.0, 8.183236542016125e-05, 8.18363422972912e-05, 0.08543055664771503, 0.13165168082088324, 0.08257954746656875, 0.9367478451820067, 0.05530469680277483, 0.08513413723607362, 0.008694118785951535, 0.010779159139774085, 0.011000638315392944], "count": [319]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8928571428571429, -0.08, -0.30285714285714294, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9642857142857144, 1.0, 1.0, 0.06, 0.18857142857142858, 0.20285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04896999552171966, -0.04715629198387815, -0.01538289296909985, -0.0013076578593819966, -0.0008419167039856657, 0.007299596954769369, -0.5611285266457681], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3964724675977409, 0.3474664138912755, 0.36527102449398396, 0.017004350663437327, 0.05860823741323445, 0.05211631258006756, 0.8277286853700015], "count": [319]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050156738609075546], "std": [0.21826830506324768], "count": [319]}, "next.done": {"min": [false], "max": [true], "mean": [0.003134796238244514], "std": [0.05590142476528842], "count": [319]}, "timestamp": {"min": [0.0], "max": [15.9], "mean": [7.95], "std": [4.604345773288535], "count": [319]}, "frame_index": {"min": [0], "max": [318], "mean": [159.0], "std": [92.0869154657707], "count": [319]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [319]}, "index": {"min": [33590], "max": [33908], "mean": [33749.0], "std": [92.0869154657707], "count": [319]}, "task_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [319]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6705432021197151]], [[0.6359905706667432]], [[0.5924597562902114]]], "std": [[[0.24300448626664714]], [[0.2881699086472867]], [[0.3234041270150261]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5493558349609375]], [[0.5227661420036765]], [[0.5108154524260877]]], "std": [[[0.2522903136919399]], [[0.27415746764335214]], [[0.27743883499629823]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5640405345243567]], [[0.5372549001656327]], [[0.5275963021072687]]], "std": [[[0.2657549828808463]], [[0.2869995632862962]], [[0.29273418545575847]]], "count": [100]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [2.484473633749089, -1.47942151694647, 0.6999992776067303, 0.0, 0.0, -0.7079114317893982, 0.7063012719154358, 0.07371116174571846, -0.1992357519822443, 0.22997434138164408, -0.9929710626602173, -0.13223113119602203, -0.1675635576248169, 0.0002148179482901469, 0.02053160559829822, -0.04008217506971534], "max": [2.485334733128025, -1.4779237879609806, 0.7027211481191278, 0.0, 0.0, -0.7070929408073425, 0.7071205377578735, 0.4443515118583059, 0.05800099439270756, 0.6171449339075344, 0.9856945276260376, 0.10234607756137848, 0.14911004900932312, 0.024171799421310425, 0.04061215880603908, -0.013058843920549594], "mean": [2.4850699509993546, -1.4787656684900958, 0.7011684313838937, 0.0, 0.0, -0.7073873959149525, 0.7068259640104452, 0.38583565236610096, -0.0625940464579287, 0.3289171645083494, -0.3923942758019563, -0.031454317793724644, -0.05097397108366535, 0.014463381271797845, 0.03525918003721883, -0.0335603797090946], "std": [0.000255319298363652, 0.0005146260428323383, 0.0009442839810031217, 0.0, 0.0, 0.00023703669692127762, 0.00023727234492031246, 0.07472347845111751, 0.08135039603908255, 0.09900156241246884, 0.906351586962172, 0.07383306200519926, 0.12346749862324191, 0.007815864627362957, 0.006039529742967949, 0.009760281165621519], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9142857142857143, -0.9, -0.7285714285714285, -0.025714285714285714, -0.07142857142857142, -0.15142857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5071428571428571, 0.8142857142857143, 0.8500000000000001, -0.0, 0.037142857142857144, 0.014285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04783894449499541, -0.0018425841674249252, -0.04181073703366691, -0.0008280254777070066, 0.0018835304822565964, -0.008098271155595999, -0.40764331210191085], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2835571027183845, 0.33404861040775974, 0.32259450380788546, 0.003571437264903083, 0.011442823479882305, 0.025189978042098153, 0.913141243235999], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05095541477203369], "std": [0.21990668773651123], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [314]}, "index": {"min": [33909], "max": [34222], "mean": [34065.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [314]}}} diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/info.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..6c1519fbfcab5e5fd82565130e77c8beb63cec3f --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 104, + "total_frames": 34223, + "total_tasks": 55, + "total_videos": 312, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:104" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/modality.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/stats.json b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a027e17e620999baaeb5f46f713e163c4bde0636 --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 24.72188377380371 + ], + "std": [ + 15.180749893188477 + ], + "min": [ + 0.0 + ], + "max": [ + 54.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 53.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 55.0 + ], + "std": [ + 0.0 + ], + "min": [ + 55.0 + ], + "max": [ + 55.0 + ], + "q01": [ + 55.0 + ], + "q99": [ + 55.0 + ] + }, + "observation.state": { + "mean": [ + 2.683868885040283, + -1.6422947645187378, + 0.700851559638977, + 0.0, + 0.0, + 0.15547001361846924, + 0.6540917158126831, + 0.3665062189102173, + 0.010041548870503902, + 0.3213864862918854, + -0.5992900729179382, + -0.0517708994448185, + -0.04327860474586487, + 0.034857768565416336, + 0.0344429649412632, + -0.034227028489112854 + ], + "std": [ + 1.4008727073669434, + 0.9660641551017761, + 0.0010513700544834137, + 0.0, + 0.0, + 0.6651128530502319, + 0.32495394349098206, + 0.09418879449367523, + 0.145274356007576, + 0.09109285473823547, + 0.7567549347877502, + 0.22932009398937225, + 0.09435267001390457, + 0.03031696006655693, + 0.008702998049557209, + 0.009096147492527962 + ], + "min": [ + -0.8142092823982239, + -5.0276007652282715, + 0.6999893188476562, + 0.0, + 0.0, + -1.0, + 0.0, + -0.05720708891749382, + -0.43004393577575684, + 0.22450436651706696, + -0.9999921917915344, + -0.9425716996192932, + -0.34657126665115356, + 8.595807230449282e-06, + 0.0008476785151287913, + -0.04107395187020302 + ], + "max": [ + 6.180931091308594, + -0.7558246850967407, + 0.7066140174865723, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6259685158729553, + 0.49991077184677124, + 0.6196534633636475, + 0.9999818205833435, + 0.9428970217704773, + 0.30684369802474976, + 0.29365643858909607, + 0.04147828742861748, + 0.0012940126471221447 + ], + "q01": [ + -0.8138877153396606, + -4.530362129211426, + 0.6999987363815308, + 0.0, + 0.0, + -1.0, + 7.448694759659702e-06, + 0.1061667948961258, + -0.3300301432609558, + 0.22954800724983215, + -0.9993102550506592, + -0.7019346952438354, + -0.23327882587909698, + 0.0005801022052764893, + 0.007649674545973539, + -0.04039271920919418 + ], + "q99": [ + 6.180029392242432, + -0.7565088868141174, + 0.7042971849441528, + 0.0, + 0.0, + 1.0, + 1.0, + 0.5635735392570496, + 0.3307366967201233, + 0.5998165011405945, + 0.9990003108978271, + 0.6069843769073486, + 0.2087637037038803, + 0.1487627923488617, + 0.0403534471988678, + -0.006938996724784374 + ] + }, + "action": { + "mean": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -0.030899593606591225, + -0.0014954410726204515, + -0.03310232609510422, + -0.0004959917278029025, + 0.003017088631168008, + -0.00028126456891186535, + -0.42787015438079834 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.30364465713500977, + 0.3949125409126282, + 0.3307857811450958, + 0.025423206388950348, + 0.04567120224237442, + 0.08060699701309204, + 0.9039626121520996 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.2914285659790039, + -0.508571445941925, + -0.7942857146263123, + -1.0 + ], + "max": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + 1.0, + 1.0, + 1.0, + 0.2685714364051819, + 0.6171428561210632, + 0.9200000166893005, + 1.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -1.0, + -1.0, + -0.805571436882019, + -0.10000000149011612, + -0.1599999964237213, + -0.2628571391105652, + -1.0 + ], + "q99": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + 0.6571428775787354, + 1.0, + 0.9285714030265808, + 0.09428571164608002, + 0.1485714316368103, + 0.2685714364051819, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.04882681369781494 + ], + "std": [ + 0.21550582349300385 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0030388920567929745 + ], + "std": [ + 0.0550423227250576 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 8.429232597351074 + ], + "std": [ + 5.151418685913086 + ], + "min": [ + 0.0 + ], + "max": [ + 25.350000381469727 + ], + "q01": [ + 0.15000000596046448 + ], + "q99": [ + 20.399999618530273 + ] + }, + "frame_index": { + "mean": [ + 168.5846405029297 + ], + "std": [ + 103.02836608886719 + ], + "min": [ + 0.0 + ], + "max": [ + 507.0 + ], + "q01": [ + 3.0 + ], + "q99": [ + 408.0 + ] + }, + "episode_index": { + "mean": [ + 52.35017395019531 + ], + "std": [ + 29.99565315246582 + ], + "min": [ + 0.0 + ], + "max": [ + 103.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 102.0 + ] + }, + "index": { + "mean": [ + 17111.0 + ], + "std": [ + 9879.3291015625 + ], + "min": [ + 0.0 + ], + "max": [ + 34222.0 + ], + "q01": [ + 342.2200012207031 + ], + "q99": [ + 33879.78125 + ] + }, + "task_index": { + "mean": [ + 24.72188377380371 + ], + "std": [ + 15.180749893188477 + ], + "min": [ + 0.0 + ], + "max": [ + 54.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 53.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/tasks.jsonl b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c73ab1cb46872dcdbac250df1bd3976ad274b4ba --- /dev/null +++ b/pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot/meta/tasks.jsonl @@ -0,0 +1,56 @@ +{"task_index": 0, "task": "Remove the carrot and steak from the cutting board to prepare it for cleaning."} +{"task_index": 1, "task": "Remove the avocado and fish from the cutting board to prepare it for cleaning."} +{"task_index": 2, "task": "Remove the lime and fish from the cutting board to prepare it for cleaning."} +{"task_index": 3, "task": "Remove the garlic and steak from the cutting board to prepare it for cleaning."} +{"task_index": 4, "task": "Remove the eggplant and steak from the cutting board to prepare it for cleaning."} +{"task_index": 5, "task": "Remove the onion and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 6, "task": "Remove the corn and fish from the cutting board to prepare it for cleaning."} +{"task_index": 7, "task": "Remove the lemon and steak from the cutting board to prepare it for cleaning."} +{"task_index": 8, "task": "Remove the tomato and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 9, "task": "Remove the onion and steak from the cutting board to prepare it for cleaning."} +{"task_index": 10, "task": "Remove the squash and steak from the cutting board to prepare it for cleaning."} +{"task_index": 11, "task": "Remove the mushroom and fish from the cutting board to prepare it for cleaning."} +{"task_index": 12, "task": "Remove the lemon wedge and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 13, "task": "Remove the avocado and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 14, "task": "Remove the lemon wedge and fish from the cutting board to prepare it for cleaning."} +{"task_index": 15, "task": "Remove the broccoli and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 16, "task": "Remove the lemon wedge and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 17, "task": "Remove the sweet potato and steak from the cutting board to prepare it for cleaning."} +{"task_index": 18, "task": "Remove the lemon and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 19, "task": "Remove the garlic and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 20, "task": "Remove the onion and fish from the cutting board to prepare it for cleaning."} +{"task_index": 21, "task": "Remove the eggplant and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 22, "task": "Remove the potato and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 23, "task": "Remove the avocado and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 24, "task": "Remove the tomato and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 25, "task": "Remove the broccoli and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 26, "task": "Remove the cucumber and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 27, "task": "Remove the squash and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 28, "task": "Remove the broccoli and steak from the cutting board to prepare it for cleaning."} +{"task_index": 29, "task": "Remove the lemon and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 30, "task": "Remove the onion and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 31, "task": "Remove the tomato and fish from the cutting board to prepare it for cleaning."} +{"task_index": 32, "task": "Remove the lemon wedge and steak from the cutting board to prepare it for cleaning."} +{"task_index": 33, "task": "Remove the corn and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 34, "task": "Remove the bell pepper and steak from the cutting board to prepare it for cleaning."} +{"task_index": 35, "task": "Remove the sweet potato and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 36, "task": "Remove the garlic and fish from the cutting board to prepare it for cleaning."} +{"task_index": 37, "task": "Remove the tomato and steak from the cutting board to prepare it for cleaning."} +{"task_index": 38, "task": "Remove the squash and fish from the cutting board to prepare it for cleaning."} +{"task_index": 39, "task": "Remove the carrot and fish from the cutting board to prepare it for cleaning."} +{"task_index": 40, "task": "Remove the lemon and fish from the cutting board to prepare it for cleaning."} +{"task_index": 41, "task": "Remove the sweet potato and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 42, "task": "Remove the sweet potato and fish from the cutting board to prepare it for cleaning."} +{"task_index": 43, "task": "Remove the lime and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 44, "task": "Remove the lime and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 45, "task": "Remove the cucumber and fish from the cutting board to prepare it for cleaning."} +{"task_index": 46, "task": "Remove the cucumber and steak from the cutting board to prepare it for cleaning."} +{"task_index": 47, "task": "Remove the avocado and steak from the cutting board to prepare it for cleaning."} +{"task_index": 48, "task": "Remove the eggplant and fish from the cutting board to prepare it for cleaning."} +{"task_index": 49, "task": "Remove the cucumber and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 50, "task": "Remove the carrot and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 51, "task": "Remove the bell pepper and chicken drumstick from the cutting board to prepare it for cleaning."} +{"task_index": 52, "task": "Remove the bell pepper and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 53, "task": "Remove the bell pepper and fish from the cutting board to prepare it for cleaning."} +{"task_index": 54, "task": "Remove the mushroom and shrimp from the cutting board to prepare it for cleaning."} +{"task_index": 55, "task": "RemoveCuttingBoardItems"} diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/dataset_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a822970998748708bb031a6b0c7d6cac713e6e67 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "SetUpCuttingStation", + "env_args": { + "type": 1, + "env_name": "SetUpCuttingStation", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "SetUpCuttingStation", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "SetUpCuttingStation", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "22:25:48", + "total": 109221 +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61450712cfa69ff855d49050eae5941a633abc18 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 11, + "style_id": 33, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7553793588788467, + 0.65 + ], + "offset": [ + 0.8163103205605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7553793588788467, + 0.65 + ], + "offset": [ + 0.8163103205605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_1_main_group_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1499708820253716, + -0.9686742859704391, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a5aa81468edacc22f94cc8e033594cfd35455d --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 18, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + 1.0704560813499813, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_left_group_6", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.278, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + -1.070456081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_4_left_group_6" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8360420025372652, + -2.7721984419962173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3222688491467c7050e8ab6f976bedf25dd5d305 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 33, + "style_id": 29, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group_1", + "drawer": "stack_1_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.680031243040648, + -0.9009627098880031, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..325f9b2e6a15bd11b874141137e6c424a7f6c103 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 28, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_island_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.309, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_5_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9862533587137958, + -1.7270637686311228, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6650672af817643d9318b1e6b4462d3950e0c5 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 24, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.5049999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group", + "drawer": "stack_1_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.37923162580366, + -0.9696781966978139, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..211dc0cea867671c09498afdde7f02056e129019 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 24, + "style_id": 17, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5153522961913226, + 1.95 + ], + "offset": [ + 1.1423238519043388, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.6673522961913227, + 1.95 + ], + "offset": [ + -1.0663238519043385, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.730917322148358, + -1.6271347903020545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa0a8fae430d6603e6996b7a5100a026b26355f --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 59, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9085329999999998, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_04_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.264955921146187, + -1.0671710732715987, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5f1ef7e0ff4396231578f98e5c12db3977653f --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 21, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_2_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0893808212375142, + -1.833327791671161, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca42720ae65e61f20b1c2fb5924d1849614c841 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 28, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_island_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5719999999999998, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_1_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.74444432551525, + -1.5489770359651305, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77e4750a2fb2dcd07fc144be68c2066aba6294b7 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 33, + "style_id": 43, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_4_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.289623100019009, + -0.9866742777534037, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18b1cc22b5be2a2d575ddb575e79b7d6cb9d638f --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 42, + "style_id": 24, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.855, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.328, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.855, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group_1", + "drawer": "stack_2_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.256601176215997, + -0.9512544014861589, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdba8622e6f5721f1be676ce7ca0c8821f2c8be2 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 29, + "style_id": 21, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_2_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.327118083310959, + -0.9789740035834414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c62f0f16ab2587c7be6b35bdde2a7dbf32082770 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 59, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_02_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9085329999999998, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_3_main_group_1", + "drawer": "stack_02_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.516198317427786, + -1.0959814056991297, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac7fb37df229760d816d5ff04c53f53403fa157 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 53, + "style_id": 38, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_dining_area_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9227479999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "dining_dining_area_group_1", + "drawer": "stack_4_dining_area_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.009345115549193, + -1.3606950595423908, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0637c074fc9db43e7fac31b90ab894b9a5cdb0d1 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 11, + "style_id": 26, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1615035220312664, + -0.9960229230924796, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6ae071e664d715e6f1b85b5e0db140f9ef25a7 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 48, + "style_id": 17, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_09_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.7603339999999998, + 0.510011 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_09_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4686636839887846, + -2.944285722576646, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412869477002467 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b33abb117bd6557a30bf1595b5405db3165f2dc --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 55, + "style_id": 17, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_06_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.670536, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_06_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.24944915091077, + -2.133358941881831, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57c7aa54d1ab8e92993a7cd76eebf2259b2416d4 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 47, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_04_front_group_2", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.131906, + 0.650076 + ], + "offset": [ + 0.0, + 0.0, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_10_front_group_2_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.5253859999999999, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_04_front_group_2", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.131906, + 0.650076 + ], + "offset": [ + 0.0, + 0.0, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_04_front_group_2", + "drawer": "stack_10_front_group_2_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.4080212921770805, + -3.2035696336242383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237433597448 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9109d2ad0b65a3479dc721952a69c74255f7a390 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 19, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.826587619802766, + 0.65 + ], + "offset": [ + -0.836706190098617, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.258, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.826587619802766, + 0.65 + ], + "offset": [ + -0.836706190098617, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group_1", + "drawer": "stack_1_left_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9418142226026739, + -2.825506513242951, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3894c8056aa5a9d853bcc695c2f53af815346080 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 55, + "style_id": 38, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.38915900000000003, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_04_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6234184219049763, + -1.045595015237561, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fac154115d4d43a3a6e0729676455ee8086b49fc --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 28, + "style_id": 12, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4228275477734427, + 0.65 + ], + "offset": [ + 1.1285862261132784, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_main_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.298, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4228275477734427, + 0.65 + ], + "offset": [ + 1.1285862261132784, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group", + "drawer": "stack_2_main_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2644445128514263, + -0.9466695930396583, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52cf253d700247bda2a5870ae5b21b03709e4431 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 59, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.6734527039790157, + 0.4609890000000001 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.06499069999999998 + ], + "size": [ + 0.58029, + 0.510005 + ], + "height": 0.15998139999999997, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8644041480104923, + 1.075989 + ], + "offset": [ + -0.768928425994754, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.834543444681328, + -1.9644890365214598, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..487c722a285edcd150721007691a247da5455522 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 45, + "style_id": 46, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.673, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group_1", + "drawer": "stack_2_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.760413433604795, + -0.9510780594077426, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37830d8320c783637ccd508126b797cd3fb62efb --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 52, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3243282437377681, + 0.65 + ], + "offset": [ + 0.4653358781311159, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_01_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3243282437377681, + 0.65 + ], + "offset": [ + 0.4653358781311159, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_4_right_group_1", + "drawer": "stack_01_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2869702512178103, + -2.3568061582394404, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9836a041caa315435ce0b1b959f686c75ffadd7f --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 12, + "style_id": 36, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_island_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.5959999999999999, + 0.6950000000000001 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_3_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.526162707007776, + -3.3955609589940496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdd7909de6ad61f9c256679a7b61ff537c1b7ca --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 12, + "style_id": 48, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7180875213010123, + 0.65 + ], + "offset": [ + 1.0779562393494937, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5640000000000001, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3771755213010124, + 0.65 + ], + "offset": [ + -1.2484122393494939, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3573267185091058, + -0.9490383771522253, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a282647550ddbda7dbf4bf0f0d305987e6a7847 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 34, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_left_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.7628999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.679386121740107, + 0.65 + ], + "offset": [ + -0.8823569391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group_1", + "drawer": "stack_4_left_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9872723255379886, + -1.0673916870828009, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f985d4610ee25d966dae2745fdc6b0d23f22059 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 41, + "style_id": 38, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.623, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group_1", + "drawer": "stack_1_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.581367742575532, + -3.2617179874465227, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c38660034480f3df39372ad911eb78dd664f70d4 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 56, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_8_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_7_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9759959999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_8_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_8_right_group_1", + "drawer": "stack_7_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.743214911140427, + -4.759382776572291, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d089c7827757722c86c43e2df8811ca6862cf4b --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,545 @@ +{ + "layout_id": 18, + "style_id": 18, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3338422152651122, + 0.65 + ], + "offset": [ + -1.133078892367444, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_left_group_5", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.278, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3338422152651122, + 0.65 + ], + "offset": [ + 1.1330788923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_2_left_group_5" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8482472046789006, + -5.2013198748875356, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d2cceed1aa5eb9187662845f9fd4a27f2ec4273 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 29, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_2_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5847406249254514, + -0.9925413992180383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3173c25819ce342bf43df1c0cfd8599dfa883eb --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 12, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8749433326264595, + 0.65 + ], + "offset": [ + -0.7875283336867703, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_left_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8749433326264595, + 0.65 + ], + "offset": [ + 0.7875283336867707, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_3_left_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9815781720030041, + -2.2912090884773395, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff449e298d0b0fa287289a42f47f0983285e693f --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 39, + "style_id": 31, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_6_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_6_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.972109472446061, + -0.7968763687803189, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4842ef9615368bc80a1db1f79d87437a174054a --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 22, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.3796101665009943, + 0.65 + ], + "offset": [ + -1.327694916749503, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_left_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.954, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.8257601665009937, + 0.65 + ], + "offset": [ + 1.6046199167495026, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_4_left_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9861582650510937, + -0.13269822795765784, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea2bedf7885b8f96df242952d0d821bcdfc311c --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 42, + "style_id": 37, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.855, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6379919999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.855, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group_1", + "drawer": "stack_4_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.199089287289648, + -2.5023925985970736, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..839547bd27b11bf4f28ee23db8c8311532d27f16 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 13, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.9075414140281644, + 0.65 + ], + "offset": [ + -0.7487292929859177, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.6279999999999999, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.715791414028164, + 0.65 + ], + "offset": [ + 1.3446042929859179, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_2_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7470063602570076, + -1.3941899252660512, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c83f34c263d3c7b556a3f0a93b41216f6ab2537e --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 23, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_2_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_right_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4469999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_2_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_2_island_group", + "drawer": "stack_3_right_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.670035955995218, + -2.97833196387995, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8676a55b2417a2e842f78f40442fd89acddb94c --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 31, + "style_id": 30, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8246303060768132, + 1.3 + ], + "offset": [ + -1.1376663469615933, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.6606317860768132, + 1.3 + ], + "offset": [ + 1.219665606961593, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_5_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.326355079632412, + -6.029208905048689, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..319ae01d9a582bf3446e103647d1295cbe821142 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 12, + "style_id": 19, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_island_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.5959999999999999, + 0.6950000000000001 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_3_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5125216334801093, + -4.0448352800059935, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0035f9e17a825a6174a9d8ef9f55c1aa35e2b308 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 48, + "style_id": 27, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.283132216948582, + 0.650012 + ], + "offset": [ + -0.997053891525709, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_06_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.330488, + 0.509998 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.283132216948582, + 0.650012 + ], + "offset": [ + -0.997053891525709, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_3_right_group_1", + "drawer": "stack_06_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6495087367987344, + -3.4774097792306486, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9191133e97ace0bc221db1db15e97dd59e93baab --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 57, + "style_id": 55, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.372173, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_05_left_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.857219, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.372173, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_left_group_1", + "drawer": "stack_05_left_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.908504737970876, + -0.9915881765240657, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..312e319ee3f94eb990ae8a8bfd08193f8a9bd839 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 33, + "style_id": 59, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_4_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8358951041669216, + -0.9937444479775911, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccb44a63258407f86413047b23e0565d1033487b --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 15, + "style_id": 32, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_front_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.718, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_front_group_1", + "drawer": "stack_2_front_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1942033724833412, + -5.4932229199556435, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b48cdb899e063465c35d2fd33d5be9df9bd2c886 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 12, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3731683019160479, + 0.65 + ], + "offset": [ + -1.2504158490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5640000000000001, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3731683019160479, + 0.65 + ], + "offset": [ + -1.2504158490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3308312296846727, + -0.9812315460833345, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61938312dff58227c53843d74ed08623ccd0b18d --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 22, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.4347732098843444, + 0.65 + ], + "offset": [ + -1.3001133950578279, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_left_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.8809232098843438, + 0.65 + ], + "offset": [ + 1.5770383950578282, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_1_left_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9974757574420178, + -4.949328222748761, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fe3415f5b1c3b869c0ac001802aa4f1de955b0 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 55, + "style_id": 58, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.38915900000000003, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_04_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.547689054199324, + -1.071987840294575, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1591561d6d80e29af0b0be2e47d46ff36a6acd92 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 53, + "style_id": 55, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8094515019160478, + 0.65 + ], + "offset": [ + 0.5976302490419763, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_dining_area_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9227479999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8094515019160478, + 0.65 + ], + "offset": [ + 0.5976302490419763, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_4_dining_area_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.957652380652296, + -1.9270833233337052, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10b1eecdb4464fb516df5f2e54807eda74cf1afe --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 11, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.155085877896786, + -0.9974546310433574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c18edcb07909aca3746994f5c1fc22523912aa00 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 14, + "style_id": 37, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.392, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_1_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6414102707596192, + -0.9764916300855576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5925005cb7eb30b5a8e22364d5fe68d19c6a541 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 26, + "style_id": 57, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.439636157066536, + 0.65 + ], + "offset": [ + 0.530181921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_right_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.439636157066536, + 0.65 + ], + "offset": [ + 0.530181921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_front_group", + "drawer": "stack_1_right_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.192088899052099, + -4.048418746334683, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.085780169280298e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f3fa8f68eaa6afd38aabef8e43f2054897ae436 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 57, + "style_id": 31, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_2_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.855352, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_06_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5969879999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_2_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.855352, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_2_island_group_1", + "drawer": "stack_06_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.0903382762722194, + -2.4065401299433176, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..362ac61fa3c2bee505468c60b99afabd03dddbb9 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 16, + "style_id": 13, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.7229999999999999, + 0.44600000000000006 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_2_island_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.936304076927664, + -4.0873257995650105, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159245077386 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d71bfbef312429b2914d9c1beae0a6e769e8471 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 29, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3375, + 1.8 + ], + "offset": [ + -1.15375, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_island_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.42700000000000005, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3375, + 1.8 + ], + "offset": [ + 1.1537500000000003, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_5_island_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1190608382159948, + -5.508199516410359, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..129dbbad93fe2eac894168c7b556c6e614ca637b --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 55, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2901851665009945, + 0.65 + ], + "offset": [ + 0.4549074167495031, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_01_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.428014, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.2901851665009945, + 0.65 + ], + "offset": [ + 0.4549074167495031, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_01_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.1572860286131075, + -0.897906025218467, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0c71ece4fba3697195c8990a362895c0cec93d --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 45, + "style_id": 35, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.677, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_2_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0401234631592264, + -2.719879433149425, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc79c84824bc79ba2d7834e9cacdeb3ca91d0b9 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 52, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_05_left_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.8857769999999998, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group_1", + "drawer": "stack_05_left_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9989123080664706, + -1.083575841052837, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38c2f6772218dacfb769f301268d9145670f57b3 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 17, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_4_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.700566948872277, + -3.3031230238321734, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d96836e3c804f4a1636f4563fb5bcb2690ca5fc --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 46, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_08_front_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6727129999999999, + 0.510003 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "dining_dining_area_group", + "drawer": "stack_08_front_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1872030062981422, + -2.5121809660815426, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..badd707a137f636f9a0379d79897a2a1e5dff757 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 23, + "style_id": 35, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_right_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4469999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group", + "drawer": "stack_3_right_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.739260635124094, + -2.5108159907539824, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13fc13675b6b3598040fd6df4ffde0ee3f900211 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 39, + "style_id": 57, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.785136157066536, + 0.65 + ], + "offset": [ + -1.4574319214667322, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.044136157066536, + 0.65 + ], + "offset": [ + 1.8279319214667322, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_1_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.49978559948831014, + -0.995606420792259, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd49799bfa2c838d16237cd5502a4b0c0c0a1839 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 31, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8468247603944681, + 0.6850000000000002 + ], + "offset": [ + 0.08199925999999991, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8468247603944681, + 0.6850000000000002 + ], + "offset": [ + 0.08199925999999991, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2734420207236514, + -2.447967265387312, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99317d8485b45cad5dfe1d330b21e8443b55cb54 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 23, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.144, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_left_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4549999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.144, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_1_left_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9979024462937379, + -1.6298820013932545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c0926da0b490c37284b7f429727b5426c31c601 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,695 @@ +{ + "layout_id": 25, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_main_group_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.448, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group", + "drawer": "stack_5_main_group_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9626076288656544, + -0.9482805413159107, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c37ffc5754f5ad4fbd65992fd792e72afbd299fb --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 57, + "style_id": 22, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_2_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.855352, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_06_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5969879999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_2_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.855352, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_2_island_group_1", + "drawer": "stack_06_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.0811076275423868, + -2.513030571292167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe700d0f84d44e879a57655ba385dd36ffc3278a --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 23, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "bottom_right_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.71 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group", + "drawer": "bottom_right_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.5019157826179965, + -3.438609514411601, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3aab84bcad838fd3c519feb2eab0dd9e354c869e --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 11, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_left_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.41600000000000004, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "dining_dining_group", + "drawer": "stack_2_left_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.00349558127404, + -1.2256655007325035, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed35ab238814824c4b90bc8cdc2de95a9f6a9580 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 49, + "style_id": 15, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_02_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_02_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.396655410413721, + -1.2295952636862502, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a4f04b3aab0f5174644e458329b00b7bebc7d2d --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 54, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8461236480104921, + 0.65 + ], + "offset": [ + -0.7597881759947539, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_06_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.378, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8461236480104921, + 0.65 + ], + "offset": [ + 0.759788175994754, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_4_right_group_1", + "drawer": "stack_06_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.44442303218363, + -2.830679519817266, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27f8c6643764410e1a685a74b4053043c1d80166 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 31, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7838432152651125, + 0.65 + ], + "offset": [ + 1.358079392367444, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.728, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.7838432152651125, + 0.65 + ], + "offset": [ + 1.358079392367444, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group_1", + "drawer": "stack_5_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.716407769141924, + -6.308450014933023, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..980c40e5f686417a7d1774768351c961922c3750 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,605 @@ +{ + "layout_id": 20, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.986, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.534, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.986, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_front_group_1", + "drawer": "stack_1_main_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8390701488833117, + -0.9893103789556894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b04653dfa830a6c8da896273a8926f896d993438 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 59, + "style_id": 35, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9085329999999998, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_04_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.298917513212195, + -1.1098225807104474, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02eb8dbcaa408208588dcfa1d2177385a5c714c3 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 11, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_4" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.349901834104283, + -0.9507166739711155, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9d16247f4451ca7efad727f17d93a7c79acadc5 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 53, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5545817878749718, + 0.65 + ], + "offset": [ + -0.7250651060625142, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_dining_area_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9227479999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.5545817878749718, + 0.65 + ], + "offset": [ + -0.7250651060625142, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_4_dining_area_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.017557988394031, + -1.63809857485951, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa8d0da1a1b4ac22008401ac6e74439f3c4d98e --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 59, + "style_id": 37, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8481880495183673, + 1.075989 + ], + "offset": [ + -0.7770364752408164, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.06499069999999998 + ], + "size": [ + 0.58029, + 0.510005 + ], + "height": 0.15998139999999997, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8481880495183673, + 1.075989 + ], + "offset": [ + -0.7770364752408164, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.167450912955607, + -1.9282291778390592, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b46b832733052a3661de8ebb19f7535023ad4170 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 23, + "style_id": 30, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "bottom_right_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.71 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group", + "drawer": "bottom_right_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.491589662844528, + -3.565785721539865, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..191297d2dd93f11d202f76c6a1f3b6301d6dcf7e --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 14, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_left_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9648231516139258, + -2.201164990081489, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5859cfafc80b0d6ddd3a57f77eab5704fd42f753 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,605 @@ +{ + "layout_id": 20, + "style_id": 34, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6590900344875668, + 0.65 + ], + "offset": [ + 1.3584549827562162, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.534, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.874450034487567, + 0.65 + ], + "offset": [ + -0.7507749827562165, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_1_main_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3449727826035915, + -0.9868100391652441, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9cff7c74775ebf145378ee1feceb35f4b80c323 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 33, + "style_id": 37, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_4_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.989991525536719, + -0.9964217168606577, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..023a81b1201c663f895f4ffc2147192258c507c6 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 32, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1649925000000003, + 0.65 + ], + "offset": [ + -0.5174987499999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.42800000000000005, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1649925000000003, + 0.65 + ], + "offset": [ + -0.5174987499999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_1_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.384248026353337, + -1.3674164775169575, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66752df0ff72d42c911f53868173bad48b39fdb0 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 39, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.024164121868884, + 0.65 + ], + "offset": [ + 1.8379179390655573, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.765164121868884, + 0.65 + ], + "offset": [ + -1.4674179390655582, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_1_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.6373669175564971, + -0.9435059186817502, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..014c50ab6feda93987f351cbc193c03285246edd --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 41, + "style_id": 46, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_2", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6774899999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_2", + "drawer": "stack_2_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.618693034317695, + -2.1049928540041547, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238898038469 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e27cb0189dc9d417d962db126546f94ae70ec3d3 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 48, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.351052248010492, + 0.650012 + ], + "offset": [ + -0.9630938759947539, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_03_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.453153, + 0.510003 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.351052248010492, + 0.650012 + ], + "offset": [ + -0.9630938759947539, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_3_right_group_1", + "drawer": "stack_03_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7631788382999987, + -1.4682319438171607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12381f701894a226c31160cc63f94187bd5d1dcc --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 15, + "style_id": 35, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6890199375759996, + 0.8550000000000001 + ], + "offset": [ + -0.05118, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.22199999999999998, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8838100312120003, + 1.47 + ], + "offset": [ + -0.8375949843939999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_2_island_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.395281074138765, + -4.608695830878894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad310b3b4f8ea73acefcb1bad95eb0d11374ec54 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 56, + "style_id": 59, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.977102817066536, + 1.604605 + ], + "offset": [ + -0.819288091466732, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_09_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.293698, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.977102817066536, + 1.604605 + ], + "offset": [ + -0.819288091466732, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_09_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.395317065976738, + -2.253759172141829, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59f826e60c282efdbc2c1fe0b01796851fc4a66a --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 39, + "style_id": 48, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_front_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_front_group_1", + "drawer": "stack_3_front_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0372122339263847, + -5.414598624896091, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af326021426e3c276a8a2fe25407794af16d10f6 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 14, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_1_left_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9562720979792582, + -1.6723400669503259, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f365367ee4c1d9ca648bf41962ef608692ef3a31 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 45, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.9563469878749716, + 0.65 + ], + "offset": [ + -0.7888265060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.673, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0830469878749716, + 0.65 + ], + "offset": [ + 0.7254765060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_2_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7168908772936864, + -1.112717792598583, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce359471f39acd53c4da622b31fee88d47ae0fc0 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 12, + "style_id": 31, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7165953588788467, + 0.65 + ], + "offset": [ + 1.0787023205605764, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_1_main_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5640000000000001, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3756833588788469, + 0.65 + ], + "offset": [ + -1.2491583205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group", + "drawer": "stack_1_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3827667768182796, + -0.9823657958655155, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70fbaae3efd20553945d0ec3a8fa00865eeee4c2 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 42, + "style_id": 36, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5515475480476392, + 0.59421 + ], + "offset": [ + 0.23543999999999987, + 0.32389500000000004, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_right_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6379919999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.5515475480476392, + 0.59421 + ], + "offset": [ + 0.23543999999999987, + 0.32389500000000004, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_4_right_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.241707247918255, + -2.3869590062440094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4161094dc2b16698fcd9048c6e088e37650b7415 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 50, + "style_id": 29, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7896853000000003, + 0.65 + ], + "offset": [ + 1.1226398500000003, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_01_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.06500015 + ], + "size": [ + 0.4780130000000001, + 0.51 + ], + "height": 0.1600003, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2752797, + 0.65 + ], + "offset": [ + -0.8798426500000001, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_01_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2769802528538516, + -0.9384178417270135, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707959135307359 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b031297bbab017257b12d6feace2817cdff2167 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 33, + "style_id": 42, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.97, + 0.6325785595884719 + ], + "offset": [ + 0.18999999999999995, + 0.26676072020576413, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_4_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.378, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.605, + 1.1661 + ], + "offset": [ + -1.0975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_4_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.192925391172956, + -1.6640340990571822, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0d3af40eb6503e6884191557cfc3ea98223d1e --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 59, + "style_id": 48, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9085329999999998, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group_1", + "drawer": "stack_04_main_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.776027017659138, + -1.1069853400294942, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe644d055147bda3d3831cc39adae211db524d5 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 52, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.444348209884344, + 0.65 + ], + "offset": [ + 0.40532589505782823, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_01_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.444348209884344, + 0.65 + ], + "offset": [ + 0.40532589505782823, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_4_right_group_1", + "drawer": "stack_01_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.294008159828732, + -2.612804187210245, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b36d351bf75cfb664ac3e36bc2314b046aed500 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 24, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_3_main_group_5", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.56, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_2_main_group", + "drawer": "stack_3_main_group_5" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4033656253224454, + -0.9692974257713036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..464b7af4eef00d08164d538106a6dbe549c02bef --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 56, + "style_id": 29, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_07_main_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_3_main_group_1", + "drawer": "stack_07_main_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1192653307845486, + -0.9903360590014492, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ccdf7f56712cfa28328334b947a6fb34d021b08 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 49, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5480090640281644, + 0.650178 + ], + "offset": [ + -0.7691539679859178, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_03_main_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6279999999999999, + 0.5100259999999999 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.7566407640281645, + 0.650178 + ], + "offset": [ + 0.664838117985918, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_group_1", + "drawer": "stack_03_main_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.903500901997191, + -1.3255315944250883, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5623b8f827373a2fcf9622172d26f44e584540a0 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 37, + "style_id": 15, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.6447871803869252, + 1.045 + ], + "offset": [ + -0.8076064098065373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_island_group_1_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.388, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7351871803869254, + 1.045 + ], + "offset": [ + 0.7624064098065371, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_2_island_group_1_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3932088966262524, + -2.145256665364278, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a90e79bbc6dcff94db39c70b88e984b5e5dbc01 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 29, + "style_id": 24, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4291243019160478, + 1.8 + ], + "offset": [ + 1.1079378490419762, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_island_group_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.42700000000000005, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4291243019160478, + 1.8 + ], + "offset": [ + 1.1079378490419762, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group", + "drawer": "stack_5_island_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0707984579705887, + -5.37958228969549, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f68e1a6fae7ec6bd82a8bf6c33edceb2b1803eb0 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 42, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_right_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.328, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_main_group_1", + "drawer": "stack_2_right_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.276079577921628, + -1.592565326373845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0648d475dba1d9b7f0f2e801ed9cc06ca1c056da --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 31, + "style_id": 53, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7350004633331164, + 1.3 + ], + "offset": [ + -1.1824812683334418, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_5_island_group_1_3", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5710019433331164, + 1.3 + ], + "offset": [ + 1.2644805283334417, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "island_island_group_1", + "drawer": "stack_5_island_group_1_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.301553857470007, + -6.311568343413185, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e68d89527bc6052f676aba5ee62a2371d0ad0b6a --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 11, + "style_id": 53, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7492597033331165, + 0.65 + ], + "offset": [ + 0.8193701483334417, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": [ + 1.25, + 1.25, + 2.5 + ], + "placement": { + "fixture": "stack_2_left_group_2", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.41600000000000004, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8447797033331166, + 0.65 + ], + "offset": [ + -0.7716101483334417, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board.", + "fixture_refs": { + "counter": "counter_1_left_group", + "drawer": "stack_2_left_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9996893800577507, + -1.2102794694027306, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/embodiment.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes.jsonl b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..930d9d5517f6484568cdc59b5a00ba5b840a89ad --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1377} +{"episode_index": 1, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1305} +{"episode_index": 2, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1109} +{"episode_index": 3, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1316} +{"episode_index": 4, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 999} +{"episode_index": 5, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1597} +{"episode_index": 6, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1266} +{"episode_index": 7, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 740} +{"episode_index": 8, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1114} +{"episode_index": 9, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 941} +{"episode_index": 10, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1093} +{"episode_index": 11, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 799} +{"episode_index": 12, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1034} +{"episode_index": 13, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 818} +{"episode_index": 14, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 860} +{"episode_index": 15, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1047} +{"episode_index": 16, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 871} +{"episode_index": 17, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1811} +{"episode_index": 18, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1261} +{"episode_index": 19, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1013} +{"episode_index": 20, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1042} +{"episode_index": 21, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1128} +{"episode_index": 22, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1851} +{"episode_index": 23, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 770} +{"episode_index": 24, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1472} +{"episode_index": 25, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 773} +{"episode_index": 26, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1349} +{"episode_index": 27, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1457} +{"episode_index": 28, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1159} +{"episode_index": 29, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 707} +{"episode_index": 30, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1481} +{"episode_index": 31, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 768} +{"episode_index": 32, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1095} +{"episode_index": 33, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1008} +{"episode_index": 34, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 989} +{"episode_index": 35, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 994} +{"episode_index": 36, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1426} +{"episode_index": 37, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 962} +{"episode_index": 38, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1288} +{"episode_index": 39, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 934} +{"episode_index": 40, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 885} +{"episode_index": 41, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 929} +{"episode_index": 42, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 989} +{"episode_index": 43, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 731} +{"episode_index": 44, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 805} +{"episode_index": 45, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1025} +{"episode_index": 46, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 921} +{"episode_index": 47, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 859} +{"episode_index": 48, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1047} +{"episode_index": 49, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 852} +{"episode_index": 50, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 998} +{"episode_index": 51, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1649} +{"episode_index": 52, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1106} +{"episode_index": 53, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1138} +{"episode_index": 54, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1106} +{"episode_index": 55, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 817} +{"episode_index": 56, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1045} +{"episode_index": 57, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 842} +{"episode_index": 58, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1110} +{"episode_index": 59, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1155} +{"episode_index": 60, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1135} +{"episode_index": 61, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 974} +{"episode_index": 62, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 847} +{"episode_index": 63, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 774} +{"episode_index": 64, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 665} +{"episode_index": 65, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 897} +{"episode_index": 66, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1280} +{"episode_index": 67, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1371} +{"episode_index": 68, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1371} +{"episode_index": 69, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 968} +{"episode_index": 70, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1175} +{"episode_index": 71, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1061} +{"episode_index": 72, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 819} +{"episode_index": 73, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 960} +{"episode_index": 74, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 886} +{"episode_index": 75, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 815} +{"episode_index": 76, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1197} +{"episode_index": 77, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 825} +{"episode_index": 78, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 820} +{"episode_index": 79, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1215} +{"episode_index": 80, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1086} +{"episode_index": 81, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1012} +{"episode_index": 82, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 632} +{"episode_index": 83, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1450} +{"episode_index": 84, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 668} +{"episode_index": 85, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1012} +{"episode_index": 86, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1207} +{"episode_index": 87, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1103} +{"episode_index": 88, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1213} +{"episode_index": 89, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1050} +{"episode_index": 90, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1298} +{"episode_index": 91, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1437} +{"episode_index": 92, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 921} +{"episode_index": 93, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 967} +{"episode_index": 94, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 863} +{"episode_index": 95, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 750} +{"episode_index": 96, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1218} +{"episode_index": 97, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1267} +{"episode_index": 98, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 917} +{"episode_index": 99, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1094} +{"episode_index": 100, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1672} +{"episode_index": 101, "tasks": ["Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."], "length": 1296} diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2305ce3ac2480779bd161706d1ad0cab647da9f2 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4132698534347108]], [[0.3869456476373389]], [[0.37149013272387565]]], "std": [[[0.24519209274858467]], [[0.2292728411402701]], [[0.24023714210988695]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3582101136471856]], [[0.3467338738084853]], [[0.3288375197858544]]], "std": [[[0.2638055941543092]], [[0.26009700113320705]], [[0.2653685608385354]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35460015713454907]], [[0.3443843480801388]], [[0.3275787623582688]]], "std": [[[0.26441770533996345]], [[0.2602753020539308]], [[0.2635822098861231]]], "count": [226]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1377]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1377]}, "observation.state": {"min": [0.8539162146467492, -1.6328288530434114, 0.6999985957089854, 0.0, 0.0, 0.7071067690849304, 0.25724509358406067, 0.0648634602270568, -0.10400361790185453, 0.04928264511301139, -0.9986969828605652, -0.4879283010959625, -0.6081172227859497, 0.0005568160559050739, 0.011963115571766962, -0.040068365404978525], "max": [1.7799896757974139, -0.8783469856522239, 0.7119715453014228, 0.0, 0.0, 0.9663462042808533, 0.7071067094802856, 0.6402970518737111, 0.5029991658072087, 0.6340492128776535, 0.9852564930915833, 0.8638116121292114, 0.6744639277458191, 0.2321012169122696, 0.04016699699274028, -0.010381629019433793], "mean": [1.2233098918940757, -1.0827089605424836, 0.7090112406576624, 0.0, 0.0, 0.9337801356720768, 0.3383400854028994, 0.2935125927528911, 0.1716674817985659, 0.39546973841942956, -0.39860471020423593, 0.25875470984237475, -0.08375352564242536, 0.06390242150468317, 0.031381473273890056, -0.0306657248365008], "std": [0.35022102302805647, 0.19415094006606531, 0.004571353100525966, 0.0, 0.0, 0.05549569400629069, 0.10247377077920569, 0.12397991521878846, 0.1679497864761873, 0.16666441664563852, 0.7774418692371359, 0.32469443324757696, 0.22578839978880438, 0.04732205427517863, 0.011699759418667495, 0.011961309432321389], "count": [1377]}, "action": {"min": [-0.9285714285714287, -0.9571428571428572, -0.12, 0.0, -1.0, -1.0, -1.0, -1.0, -0.14857142857142858, -0.5942857142857143, -0.5457142857142857, -1.0], "max": [1.0, 1.0, 0.5114285714285715, 0.0, 1.0, 0.7214285714285715, 1.0, 1.0, 0.3485714285714286, 0.58, 0.54, 1.0], "mean": [0.03679842307293288, -0.007256976864819996, 0.015578379499948135, 0.0, -0.6688453159041394, -0.004652972300031102, 0.02903309471936924, 0.006375142649652447, 0.010314347961406779, 0.0011598713559497868, -0.0018798630563336349, -0.2113289760348584], "std": [0.2097086371555205, 0.1994218638941186, 0.07290362558508026, 0.0, 0.7434016030337174, 0.25260860075050373, 0.27184195752914114, 0.3239496692473905, 0.06450138835892388, 0.11362878084575655, 0.11855656946318394, 0.9774149906196811], "count": [1377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011619462631642818], "std": [0.10716553032398224], "count": [1377]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007262164124909223], "std": [0.026938615818433417], "count": [1377]}, "timestamp": {"min": [0.0], "max": [68.8], "mean": [34.4], "std": [19.87527777583666], "count": [1377]}, "frame_index": {"min": [0], "max": [1376], "mean": [688.0], "std": [397.5055555167332], "count": [1377]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1377]}, "index": {"min": [0], "max": [1376], "mean": [688.0], "std": [397.5055555167332], "count": [1377]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1377]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5733970486978813]], [[0.5222393049331627]], [[0.4925304740643107]]], "std": [[[0.2369965762251748]], [[0.26219022063957054]], [[0.28715291873834387]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5791750545196657]], [[0.5377097638844474]], [[0.5054464581321441]]], "std": [[[0.20883139187390715]], [[0.2209250403846104]], [[0.2283277990459947]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5632269650000247]], [[0.5266623617220325]], [[0.4981830332545694]]], "std": [[[0.22491665417028694]], [[0.23243668756404967]], [[0.23752918233254983]]], "count": [217]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1305]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1305]}, "observation.state": {"min": [0.7665688899654642, -5.574793665483896, 0.6999900776970495, 0.0, 0.0, -1.0, 1.4946796511594584e-07, 0.06063719942053547, -0.28458455940385186, -0.022134243976878465, -0.9988247156143188, -0.47810980677604675, -0.2603727877140045, 8.52264347486198e-05, 0.006359801378844749, -0.04028614881437435], "max": [1.8513989929365455, -2.585575038823446, 0.7106734693952091, 0.0, 0.0, 1.0, 0.6296345591545105, 0.6702702757050536, 0.35908990224517323, 0.6203890900735941, 0.995898425579071, 0.4928552508354187, 0.23143979907035828, 0.19379253685474396, 0.04302287301718952, 0.0011312256257417646], "mean": [0.9360158559787747, -3.5647130381949923, 0.7067865864903464, 0.0, 0.0, -0.1749098510577761, 0.31507366550165206, 0.24583893995578696, -0.010918497284902599, 0.3826036954098426, -0.3678446992603755, 0.0024758990697020316, -0.054960333194268754, 0.037339906359590516, 0.0314398600999948, -0.029880354336225934], "std": [0.22339443858676222, 1.0948168903798194, 0.0034671490559889883, 0.0, 0.0, 0.9118794822713551, 0.196496668130519, 0.1505137054336657, 0.13472969051122613, 0.16200354603837464, 0.8789476315539659, 0.27349571573341963, 0.10624867036726146, 0.0403932640955596, 0.012810596795655148, 0.013649587362770497], "count": [1305]}, "action": {"min": [-1.0, -1.0, -0.8, 0.0, -1.0, -1.0, -1.0, -1.0, -0.18857142857142858, -0.32571428571428573, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 0.6428571428571429, 0.0, 1.0, 0.7857142857142857, 1.0, 1.0, 0.17714285714285713, 0.32285714285714284, 0.32571428571428573, 1.0], "mean": [0.1644334975369458, 0.011767925561029012, -0.004286808976464153, 0.0, -0.3425287356321839, -0.011023535851122056, -0.006217843459222757, -0.028352490421455837, -0.0035073891625615767, 0.0010180623973727416, 0.003113300492610845, -0.3164750957854406], "std": [0.3893400529195324, 0.3145101610861975, 0.17449457188379983, 0.0, 0.9395073524279789, 0.31688997915329126, 0.2263396029170091, 0.3212953426953454, 0.03709705456821833, 0.06250912816449374, 0.0725493896322115, 0.9486008189684403], "count": [1305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012260536663234234], "std": [0.11004643142223358], "count": [1305]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007662835249042146], "std": [0.0276712185214832], "count": [1305]}, "timestamp": {"min": [0.0], "max": [65.2], "mean": [32.6], "std": [18.836047002135736], "count": [1305]}, "frame_index": {"min": [0], "max": [1304], "mean": [652.0], "std": [376.72094004271474], "count": [1305]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1305]}, "index": {"min": [1377], "max": [2681], "mean": [2029.0], "std": [376.72094004271474], "count": [1305]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1305]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40854367524190666]], [[0.3692084458918353]], [[0.3474569635453567]]], "std": [[[0.21632316682880245]], [[0.20343116484520274]], [[0.2030498402764773]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3919556692534802]], [[0.35303593772688724]], [[0.3303392712586845]]], "std": [[[0.21284599995241504]], [[0.21158798914921487]], [[0.21520326909559395]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42399813801634545]], [[0.36880701040130814]], [[0.3370945011089051]]], "std": [[[0.19508254019462343]], [[0.19574632595045255]], [[0.2026100876214051]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1109]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1109]}, "observation.state": {"min": [5.523867983142098, -0.900967260535878, 0.69999719111782, 0.0, 0.0, -0.6585261225700378, 0.7525579929351807, 0.08230809609772383, -0.3095137159658554, 0.005991764936085775, -0.9986537098884583, -0.7188263535499573, -0.2840951085090637, 1.333304498984944e-05, 0.0023033792389817124, -0.04069170475841692], "max": [5.82534538081493, 0.22103633154585955, 0.7048526016041597, 0.0, 0.0, 0.00460217846557498, 1.0, 0.6252489659168787, 0.4364142146237704, 0.6041071008073339, 0.9872916340827942, 0.723207950592041, 0.5167984366416931, 0.23752564191818237, 0.040080996960757224, -0.0066795885706444095], "mean": [5.786971890979383, 0.011947545497618542, 0.7017317334930187, 0.0, 0.0, -0.5031653944453399, 0.8367175968301737, 0.28310885636093, 0.12305319186344983, 0.3548043311536206, -0.049895001113468514, 0.1113529636233212, 0.03669271547197405, 0.04170210154528367, 0.030509608829495605, -0.03215727828097036], "std": [0.05309358066519595, 0.18818663197616234, 0.0015991896190979068, 0.0, 0.0, 0.19364234746610454, 0.09607753806628372, 0.12581237585999638, 0.20624173838945203, 0.15569007599413642, 0.859307387468158, 0.46799335051427166, 0.1525271719584647, 0.03652510092314018, 0.01333003294069195, 0.012017086847051913], "count": [1109]}, "action": {"min": [-0.7357142857142858, -0.6214285714285714, -0.8, 0.0, -1.0, -1.0, -1.0, -0.6500000000000001, -0.23428571428571432, -0.5514285714285714, -0.24285714285714288, -1.0], "max": [0.9785714285714284, 1.0, 0.44285714285714284, 0.0, 1.0, 0.8500000000000001, 1.0, 1.0, 0.40571428571428575, 0.32, 0.31142857142857144, 1.0], "mean": [0.0314504701790545, 0.05211258534071879, -0.0052093262913822025, 0.0, -0.6321009918845807, -0.011194125982223368, 0.00944222594357851, -0.00733608141182537, 0.002663918588174676, -0.005691098802009532, 0.006111039546567037, -0.3742110009017133], "std": [0.1713441263276771, 0.20274212254088764, 0.13368596516960832, 0.0, 0.7748860148812367, 0.27803212835282903, 0.27442447841209294, 0.3503308347402616, 0.0611078312530525, 0.0798884468632718, 0.05645565236180997, 0.9273435861665005], "count": [1109]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013525699265301228], "std": [0.11551082879304886], "count": [1109]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009017132551848512], "std": [0.030014999056976084], "count": [1109]}, "timestamp": {"min": [0.0], "max": [55.4], "mean": [27.7], "std": [16.00702970572617], "count": [1109]}, "frame_index": {"min": [0], "max": [1108], "mean": [554.0], "std": [320.14059411452337], "count": [1109]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1109]}, "index": {"min": [2682], "max": [3790], "mean": [3236.0], "std": [320.14059411452337], "count": [1109]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1109]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5476492675737332]], [[0.45486056936325453]], [[0.39605602711133553]]], "std": [[[0.22132337093539028]], [[0.2460797657293153]], [[0.2792466816353935]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6153959710384834]], [[0.5264006668038668]], [[0.4659966178025288]]], "std": [[[0.1709954512324384]], [[0.21089175356944884]], [[0.24546584007335323]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5855682647534896]], [[0.48963449378304397]], [[0.4252692554554165]]], "std": [[[0.17158099048654002]], [[0.20615366456777395]], [[0.23575727509595193]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1316]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1316]}, "observation.state": {"min": [0.5701112207842853, -3.9046610558049983, 0.699995471571754, 0.0, 0.0, -0.9899407029151917, 0.1414831131696701, 0.045669979715459386, -0.29669967185308344, -0.003595300320181849, -0.9966610670089722, -0.9506455063819885, -0.2760300040245056, 0.0003237157070543617, 0.012682681358238558, -0.040101425013713755], "max": [3.3497512017899993, -1.1357252100153048, 0.7047302702290388, 0.0, 0.0, 0.7661128640174866, 0.999983549118042, 0.6527936887705046, 0.27346257624740833, 0.673912887958895, 0.9993736743927002, 0.950542151927948, 0.2714003324508667, 0.11951331049203873, 0.04041145268404592, -0.010313925187618507], "mean": [2.573423559586989, -2.564236633695059, 0.7024722939576755, 0.0, 0.0, -0.08104879564377776, 0.5140299419886617, 0.38045624917402904, -0.05693875633873687, 0.4073241011575504, -0.1802215571189724, 0.26417163391470183, -0.032739844340960195, 0.03832075072031438, 0.030467628835533653, -0.02949774766231207], "std": [0.8163771419677233, 0.8978663954721688, 0.0013790199291839396, 0.0, 0.0, 0.8055250852050713, 0.2834319074437684, 0.14985144871650113, 0.1413467798969649, 0.14782400736598467, 0.8261561320241847, 0.44680590907504447, 0.11158277422322704, 0.0239368411512549, 0.010377095165992138, 0.011300953973578748], "count": [1316]}, "action": {"min": [-0.8142857142857143, -1.0, -0.5114285714285715, 0.0, -1.0, -1.0, -1.0, -0.8928571428571429, -0.24571428571428575, -0.28285714285714286, -0.4914285714285715, -1.0], "max": [1.0, 0.8214285714285715, 0.8542857142857143, 0.0, 1.0, 1.0, 0.8928571428571429, 0.8785714285714286, 0.13428571428571429, 0.26857142857142857, 0.6228571428571429, 1.0], "mean": [0.16790056448111162, -0.05201367781155014, 0.041838905775076, 0.0, -0.47720364741641336, 0.00408706035605732, 0.012776812852800678, -0.014741641337386023, -0.004928354320451584, 0.0003082935301780365, -0.013028658271819371, -0.1094224924012158], "std": [0.3696701625340907, 0.21976692318516056, 0.19678269277760993, 0.0, 0.8787927394400165, 0.2676561079496347, 0.24075239206291948, 0.2549657741579165, 0.038708960390236836, 0.05976011626190572, 0.12034146611708418, 0.9939953310537726], "count": [1316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012158054858446121], "std": [0.10959123075008392], "count": [1316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007598784194528875], "std": [0.027555416967277726], "count": [1316]}, "timestamp": {"min": [0.0], "max": [65.75], "mean": [32.875], "std": [18.99481837238777], "count": [1316]}, "frame_index": {"min": [0], "max": [1315], "mean": [657.5], "std": [379.89636744775544], "count": [1316]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1316]}, "index": {"min": [3791], "max": [5106], "mean": [4448.5], "std": [379.89636744775544], "count": [1316]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1316]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5497601812617703]], [[0.5356880242924654]], [[0.5228262870351619]]], "std": [[[0.24465789604113763]], [[0.23243438485239729]], [[0.2331544093514564]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5567721278033304]], [[0.5459410390518982]], [[0.5294631800805267]]], "std": [[[0.25477621912870724]], [[0.22973735646829835]], [[0.21411573862511127]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5776382958465099]], [[0.5616095388557635]], [[0.5378219974678828]]], "std": [[[0.2451231630273346]], [[0.2172182780775348]], [[0.19904744433493998]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [999]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [999]}, "observation.state": {"min": [2.2809916370133907, -1.0482674169084498, 0.6999967878150272, 0.0, 0.0, 0.08239893615245819, 0.6798895001411438, 0.10625367361656873, -0.3653661994688435, -0.026733121707385843, -0.9990168809890747, -0.6306290626525879, -0.16532185673713684, 6.732976180501282e-05, 0.006550883348883722, -0.04067554509400251], "max": [3.379249518216114, -0.7599580964111634, 0.7140957559543042, 0.0, 0.0, 0.7333146333694458, 0.9965993762016296, 0.5136202885320884, 0.2439138470283444, 0.5928796627994948, 0.9975727200508118, 0.8616527915000916, 0.42319440841674805, 0.2490125447511673, 0.04104265108659184, 0.00031483373791387533], "mean": [2.732759758844453, -0.8556709296889623, 0.707712119496744, 0.0, 0.0, 0.39013534891712776, 0.8673775014099296, 0.2966772737715327, -0.021828005726713118, 0.2877471278301558, -0.7685115764269957, 0.26501771511213557, 0.03879939091202177, 0.0756657004075659, 0.031466381462544726, -0.029639466187522254], "std": [0.36139433025688183, 0.06995865309742212, 0.005660164898343714, 0.0, 0.0, 0.2832749742327283, 0.12331246749918111, 0.11280200171056429, 0.12534469784170515, 0.16160509853761976, 0.3979731938644945, 0.39458292392748373, 0.11549146407922949, 0.06714348391568344, 0.012034248793985713, 0.012928526043060433], "count": [999]}, "action": {"min": [-0.9142857142857143, -0.7428571428571429, -0.8, 0.0, -1.0, -1.0, -1.0, -0.9071428571428573, -0.38285714285714284, -0.5742857142857143, -0.3142857142857143, -1.0], "max": [0.942857142857143, 1.0, 0.98, 0.0, 1.0, 0.6142857142857143, 0.8357142857142857, 0.9928571428571428, 0.2057142857142857, 0.5514285714285714, 0.6685714285714286, 1.0], "mean": [-0.004154154154154151, 0.04247819247819249, -0.0015758615758615676, 0.0, -0.7477477477477478, -0.007822107822107828, -0.009266409266409262, -0.03777348777348784, 0.003306163306163306, -0.0015615615615615606, 0.011600171600171601, -0.2872872872872873], "std": [0.12160259169816588, 0.20276381230718996, 0.19093452139837286, 0.0, 0.6639829107275115, 0.28114372687430134, 0.25110963957390886, 0.33785353480315555, 0.06742913411520378, 0.11768412081400723, 0.1387677347581015, 0.9578444626154695], "count": [999]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01601601578295231], "std": [0.12553685903549194], "count": [999]}, "next.done": {"min": [false], "max": [true], "mean": [0.001001001001001001], "std": [0.031622760758621256], "count": [999]}, "timestamp": {"min": [0.0], "max": [49.9], "mean": [24.95], "std": [14.419315748906627], "count": [999]}, "frame_index": {"min": [0], "max": [998], "mean": [499.0], "std": [288.38631497813253], "count": [999]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [999]}, "index": {"min": [5107], "max": [6105], "mean": [5606.0], "std": [288.38631497813253], "count": [999]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [999]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5899291486410645]], [[0.5533480475930607]], [[0.5312222798665365]]], "std": [[[0.20412093556945843]], [[0.20481735457984895]], [[0.19618111112753214]]], "count": [252]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6547705822780501]], [[0.6261279106436954]], [[0.5944805507380904]]], "std": [[[0.19764505268755714]], [[0.1853766492951628]], [[0.17627485066924659]]], "count": [252]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6441982600535332]], [[0.6206263001077167]], [[0.5939289203433652]]], "std": [[[0.19516456964394344]], [[0.18708146682314133]], [[0.1798887585873269]]], "count": [252]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1597]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1597]}, "observation.state": {"min": [2.1419818413455944, -1.8427073675498413, 0.6999981370934624, 0.0, 0.0, -0.9999732971191406, 4.3016021663788706e-05, 0.0645762102733538, -0.014746432909989116, -0.03350175426150048, -0.9993851184844971, -0.35897526144981384, -0.3020884692668915, 3.0279334168881178e-05, 0.005181119474513775, -0.040434968212987143], "max": [4.73092443250011, -1.0528401947667125, 0.7330093678053154, 0.0, 0.0, 1.0, 0.9999979734420776, 0.45845662412923716, 0.35542848038262476, 0.6014642843875153, 0.9984328150749207, 0.6441091299057007, 0.3008854389190674, 0.11491702497005463, 0.041669595705326065, -0.006391492252035592], "mean": [3.653015054846346, -1.6957837981792947, 0.7176104986412362, 0.0, 0.0, -0.3706323765572534, 0.8238823792148967, 0.2583322229863719, 0.08662970410110811, 0.36042356235387335, -0.4203342917044609, 0.04638834743198934, -0.0593755524709572, 0.034674524884242997, 0.03423308749129831, -0.03191821735656664], "std": [0.9709925950150173, 0.1468068583113705, 0.01021132187066584, 0.0, 0.0, 0.3829590035986482, 0.19285194805334158, 0.11197337144140253, 0.07099979091808142, 0.15595387497707744, 0.865112590611167, 0.23206766211115507, 0.11591847971794059, 0.026965478293429906, 0.008659701169039892, 0.010342235037145455], "count": [1597]}, "action": {"min": [-1.0, -1.0, -0.30285714285714294, 0.0, -1.0, -1.0, -0.5571428571428572, -1.0, -0.15428571428571428, -0.29714285714285715, -0.3857142857142858, -1.0], "max": [1.0, 1.0, 0.9542857142857143, 0.0, 1.0, 0.6785714285714286, 1.0, 1.0, 0.20285714285714287, 0.4028571428571428, 0.4028571428571428, 1.0], "mean": [0.043720368548170664, 0.0023526254584488888, 0.07200107344127375, 0.0, -0.35504070131496557, -0.003300831916987207, 0.02702835674031664, -0.03728866624921733, 0.0031505501386528342, -0.0011092226496108787, 0.0009124250827444346, -0.16343143393863493], "std": [0.2774221428923939, 0.3050864361562959, 0.201765201352806, 0.0, 0.9348508439370169, 0.19578179167118787, 0.19246990686588436, 0.3071444909393903, 0.026962779313326874, 0.06417995489662391, 0.07749008706742183, 0.9865546950882871], "count": [1597]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010018785484135151], "std": [0.0995912104845047], "count": [1597]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006261740763932373], "std": [0.025015634759471734], "count": [1597]}, "timestamp": {"min": [0.0], "max": [79.8], "mean": [39.9], "std": [23.050704978373222], "count": [1597]}, "frame_index": {"min": [0], "max": [1596], "mean": [798.0], "std": [461.0140995674644], "count": [1597]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1597]}, "index": {"min": [6106], "max": [7702], "mean": [6904.0], "std": [461.0140995674644], "count": [1597]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1597]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40920383934616555]], [[0.32527935664564694]], [[0.3177600641846877]]], "std": [[[0.30083240331032335]], [[0.18963132771126978]], [[0.23557389835655557]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5911725449641457]], [[0.5068956892357198]], [[0.4873320429580017]]], "std": [[[0.2651238531590758]], [[0.3019585977999304]], [[0.3204233885684269]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6033236705061686]], [[0.5140886047792311]], [[0.49502029080237453]]], "std": [[[0.26457398884687927]], [[0.30543997390336197]], [[0.3263451674020274]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1266]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1266]}, "observation.state": {"min": [4.264938960137329, -1.4152036876447482, 0.6999924048012137, 0.0, 0.0, 0.6934930682182312, 0.6172595620155334, 0.021761494459713315, -0.46866988032565526, 0.007928426969926683, -0.9983552694320679, -0.7879722118377686, -0.4075223207473755, 6.788337486796081e-05, -0.0027332786792843484, -0.041283373504913144], "max": [4.942165014741279, -0.8613903734745358, 0.7171925692119058, 0.0, 0.0, 0.7867595553398132, 0.7204633355140686, 0.5417752274059532, 0.0011120536315543106, 0.5929510136939671, 0.9920998811721802, 0.797786295413971, 0.34609702229499817, 0.17194120585918427, 0.0410316539576817, -0.005730514590758366], "mean": [4.536117549776643, -1.1573375282930112, 0.7042938273309989, 0.0, 0.0, 0.7087956182952929, 0.7052049498422451, 0.2836674876194595, -0.1926282266448463, 0.2926183479126316, -0.48611132769976373, 0.25329288709643893, -0.024799135776518058, 0.044937077490547345, 0.025150294852668897, -0.02551304758820188], "std": [0.28831767362367317, 0.2624629701045601, 0.006052843491137126, 0.0, 0.0, 0.011654622162099964, 0.01260616194695403, 0.11207587316151532, 0.1415639845961549, 0.14638049678243337, 0.7308211587563617, 0.3838628164869587, 0.1180790982489812, 0.03887479802269948, 0.01421026638460582, 0.013923182664052295], "count": [1266]}, "action": {"min": [-0.942857142857143, -1.0, -0.2857142857142857, 0.0, -1.0, -1.0, -0.9, -1.0, -0.2571428571428571, -0.23142857142857146, -0.4371428571428572, -1.0], "max": [1.0, 1.0, 0.43428571428571433, 0.0, 1.0, 1.0, 1.0, 0.9285714285714287, 0.16, 0.44, 0.2714285714285714, 1.0], "mean": [0.022128187767998193, -0.026788535319341014, -0.0005732340329496724, 0.0, -0.7503949447077409, -0.02446400361092302, 0.036238997968855755, -0.05850823741819002, 0.001805461521101329, 0.015285488603024148, -0.006389076957797326, 0.07582938388625593], "std": [0.17928202719734887, 0.16723158340773575, 0.04715451867382417, 0.0, 0.6609897328681097, 0.32024490368830305, 0.28887527047409434, 0.34894817408274004, 0.03961956550107804, 0.07443208956928213, 0.09538996184716458, 0.997120807394685], "count": [1266]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012638230808079243], "std": [0.11170724034309387], "count": [1266]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007898894154818325], "std": [0.02809386926347352], "count": [1266]}, "timestamp": {"min": [0.0], "max": [63.25], "mean": [31.625], "std": [18.273130319314934], "count": [1266]}, "frame_index": {"min": [0], "max": [1265], "mean": [632.5], "std": [365.46260638629866], "count": [1266]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1266]}, "index": {"min": [7703], "max": [8968], "mean": [8335.5], "std": [365.46260638629866], "count": [1266]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1266]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530530284233873]], [[0.3764069677211532]], [[0.3283587800960782]]], "std": [[[0.2701691865829974]], [[0.22734590083565198]], [[0.23839226672495162]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4500724969661513]], [[0.3794887839264141]], [[0.36101761596323206]]], "std": [[[0.25110322078276087]], [[0.2481331892858932]], [[0.25611933222273614]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5252250653350325]], [[0.4059242890418579]], [[0.3709916601922379]]], "std": [[[0.20434547899345087]], [[0.22525503061972973]], [[0.24262714307608296]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [740]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [740]}, "observation.state": {"min": [2.0893805886782366, -1.9550213232901907, 0.6999991186778775, 0.0, 0.0, -0.9641348719596863, 0.2654125988483429, 0.2206293978511411, -0.3833020163646035, 0.05480199323473178, -0.9950063824653625, -0.48267340660095215, -0.20641860365867615, 0.00018511917733121663, 0.005612203452353491, -0.04056494428583343], "max": [2.9141668438518002, -1.7641880092159428, 0.7020306898504234, 0.0, 0.0, -0.7071068286895752, 0.7071066498756409, 0.6609933104214468, 0.3680191282757064, 0.5975879156867452, 0.9918827414512634, 0.7746720910072327, 0.16316014528274536, 0.13609591126441956, 0.04002238446097871, -0.003908495179704411], "mean": [2.883567631844226, -1.932447898248095, 0.7007896014300609, 0.0, 0.0, -0.9470372902380454, 0.30024357405868735, 0.369487006567745, -0.01072370654651137, 0.3266306287434812, 0.33333844671378265, 0.2707242282560548, -0.014416466666561727, 0.04134911884523447, 0.032407192823167695, -0.03306078268714538], "std": [0.12737064104240484, 0.045005298069442826, 0.0007535470956637104, 0.0, 0.0, 0.0534442577780929, 0.10058765652826966, 0.1313757538775067, 0.2513995486776868, 0.17121478599591494, 0.819482173828989, 0.35991958958267856, 0.10778304061808232, 0.031079887864760295, 0.010116752243340523, 0.009513618547445514], "count": [740]}, "action": {"min": [-0.39107142857142857, -0.058928571428571434, -0.37714285714285717, 0.0, -1.0, -0.8624999999999999, -0.6696428571428571, -0.6000000000000001, -0.09, -0.2957142857142857, -0.46714285714285714, -1.0], "max": [0.4982142857142858, 0.8357142857142857, 0.0, 0.0, 1.0, 0.7125, 0.9053571428571429, 0.9964285714285716, 0.13071428571428573, 0.1392857142857143, 0.315, 1.0], "mean": [-0.005371621621621621, 0.07100386100386101, -0.03266409266409269, 0.0, -0.6675675675675675, -0.0015709459459459683, 0.020451254826254865, -0.01621621621621626, -0.0024903474903474896, 0.0016071428571428556, -0.015602316602316622, -0.34324324324324323], "std": [0.07763037579074693, 0.1843887875048606, 0.08491985427767472, 0.0, 0.744549221161311, 0.31864634233719774, 0.25112161647326575, 0.3186734881561951, 0.019854317471851603, 0.06137759821693258, 0.10698299469043909, 0.9392465469555141], "count": [740]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021621622145175934], "std": [0.1454445719718933], "count": [740]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013513513513513514], "std": [0.036735884375859965], "count": [740]}, "timestamp": {"min": [0.0], "max": [36.95], "mean": [18.474999999999998], "std": [10.680970227465293], "count": [740]}, "frame_index": {"min": [0], "max": [739], "mean": [369.5], "std": [213.61940454930587], "count": [740]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [740]}, "index": {"min": [8969], "max": [9708], "mean": [9338.5], "std": [213.61940454930587], "count": [740]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [740]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.581666976330327]], [[0.5232590718986162]], [[0.4859089801514071]]], "std": [[[0.233181083736203]], [[0.25457437669681826]], [[0.27756550735049024]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6061305644465428]], [[0.5728020739711188]], [[0.5461535073573294]]], "std": [[[0.22801677531776923]], [[0.23684196845850114]], [[0.2540646149616042]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5916221712149826]], [[0.5456289500192879]], [[0.5089415088977689]]], "std": [[[0.2151145253521933]], [[0.22188373775554118]], [[0.24348665320930413]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1114]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1114]}, "observation.state": {"min": [2.6811653124988024, -3.7394924419333697, 0.6999984670334387, 0.0, 0.0, -0.9999996423721313, 0.00039389097946695983, 0.08906291211559991, -0.29554720951861513, -0.009341638549709264, -0.9975670576095581, -0.2790398597717285, -0.5452522039413452, 9.43643826758489e-05, 0.015222312668571924, -0.04042993636994492], "max": [5.298945419670713, -1.3903628520004259, 0.7014474767110015, 0.0, 0.0, 1.0, 0.8643050789833069, 0.5648235553364618, 0.14012093334041875, 0.6158413623497032, 0.9989185333251953, 0.7319741249084473, 0.5504271388053894, 0.26866599917411804, 0.040167025553443515, -0.016458907041800752], "mean": [3.9052520797813512, -2.625944380949833, 0.7008544258212808, 0.0, 0.0, 0.5114758741812817, 0.4929419615822148, 0.3743854121514186, 0.019974235433645574, 0.42605426299976096, 0.1087869407351612, 0.2335751407162773, 0.021557928111037385, 0.0775433186016676, 0.032781363341349984, -0.03103670506478699], "std": [1.0490747804088736, 0.8040244498206758, 0.0005102368898956679, 0.0, 0.0, 0.5871839301724139, 0.38809237919519196, 0.09140570643136055, 0.08235810733762308, 0.14662580161359193, 0.8935151151400397, 0.22919138749479992, 0.2632263663369079, 0.08333229513923042, 0.009913986303155676, 0.009819599746412222], "count": [1114]}, "action": {"min": [-1.0, -1.0, -0.6914285714285714, 0.0, -1.0, -1.0, -0.8642857142857142, -1.0, -0.12857142857142856, -0.7257142857142858, -0.3457142857142857, -1.0], "max": [1.0, 1.0, 0.3342857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.19428571428571428, 0.8057142857142856, 0.33714285714285713, 1.0], "mean": [0.0975378302128751, 0.13943318799692214, -0.05597845601436268, 0.0, -0.34290843806104127, -0.011586304180559134, -0.00371249038214926, -0.011874839702487852, 0.003529110028212363, -0.005309053603488073, -0.012639138240574502, -0.09874326750448834], "std": [0.3274985853759273, 0.3405322954098977, 0.16506725521570179, 0.0, 0.9393688323052674, 0.26851082047115155, 0.19227087677674634, 0.30903651463568316, 0.029571913717291006, 0.1505227664446346, 0.06633360131165329, 0.9951129418928003], "count": [1114]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014362657442688942], "std": [0.11898055672645569], "count": [1114]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008976660682226212], "std": [0.02994762534580301], "count": [1114]}, "timestamp": {"min": [0.0], "max": [55.65], "mean": [27.825], "std": [16.079198518582945], "count": [1114]}, "frame_index": {"min": [0], "max": [1113], "mean": [556.5], "std": [321.5839703716589], "count": [1114]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1114]}, "index": {"min": [9709], "max": [10822], "mean": [10265.5], "std": [321.5839703716589], "count": [1114]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1114]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5238107924035924]], [[0.4190817450879552]], [[0.3725890320157048]]], "std": [[[0.17984091750190534]], [[0.23539445112040464]], [[0.26738043427302477]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4943273296238914]], [[0.39099475733571903]], [[0.3482514422680361]]], "std": [[[0.20854779085710637]], [[0.27756228451252224]], [[0.3031554173706813]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4841441024247393]], [[0.35202431462455314]], [[0.2979352183374621]]], "std": [[[0.18403215584774668]], [[0.24619411323760532]], [[0.2723773852588315]]], "count": [169]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [941]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [941]}, "observation.state": {"min": [2.916316740081617, -1.0615837433699955, 0.6999987585732154, 0.0, 0.0, 0.3510783612728119, 0.7071049809455872, 0.05489896943888439, -0.477759541007464, 0.0069073877079699475, -0.9886160492897034, -0.3102719485759735, -0.6284841299057007, 3.545489744283259e-05, 0.00024716559816287815, -0.040874911882560795], "max": [3.289649930715138, -0.9010903710745484, 0.712539254553278, 0.0, 0.0, 0.7071085572242737, 0.9363460540771484, 0.7222107641443705, 0.21366499825723162, 0.6160456868318913, 0.9828291535377502, 0.3652952313423157, 0.3055933117866516, 0.22616760432720184, 0.040522174424546094, -0.0007478972812059515], "mean": [2.9743097248358845, -0.9118920669468498, 0.7078408981490216, 0.0, 0.0, 0.43688730333360676, 0.8963359838844486, 0.2940677973920746, -0.129701813522894, 0.34067395491129693, -0.06417278972366285, 0.0020578437574864956, -0.013388118507463275, 0.05027975251965331, 0.033864383574473814, -0.032476450184739915], "std": [0.06573908827713668, 0.03156053781939692, 0.004837236246078706, 0.0, 0.0, 0.0626051194199249, 0.04233066531312788, 0.1802424532866042, 0.19917040134918937, 0.1514728200880187, 0.9557935955179703, 0.20696067022097153, 0.18577680227939045, 0.04778271313334275, 0.012221068433777781, 0.011813914916268684], "count": [941]}, "action": {"min": [-0.5928571428571429, -0.6142857142857143, -0.4742857142857143, 0.0, -1.0, -1.0, -1.0, -0.5714285714285715, -0.2, -0.3742857142857143, -0.34285714285714286, -1.0], "max": [1.0, 1.0, 0.26571428571428574, 0.0, 1.0, 0.7571428571428572, 0.6928571428571428, 1.0, 0.29428571428571426, 0.4542857142857143, 0.4828571428571429, 1.0], "mean": [0.02727341733717929, 0.022688629117959633, -0.016013359647791103, 0.0, -0.8108395324123273, 0.0027174738120540306, -0.039289509640200386, -0.007560346136329072, 0.012044936997115532, -0.005926825565507817, 0.004159708516775472, -0.34112646121147716], "std": [0.1519213243432439, 0.1416788962451653, 0.08101735191725525, 0.0, 0.5852685304006767, 0.32997730597472086, 0.28817289383552896, 0.32483450838156896, 0.04359192063061212, 0.08398172003681324, 0.09156223244611261, 0.9400174133819674], "count": [941]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018065886572003365], "std": [0.13318975269794464], "count": [941]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010626992561105207], "std": [0.03258174222477342], "count": [941]}, "timestamp": {"min": [0.0], "max": [47.0], "mean": [23.5], "std": [13.58215741331251], "count": [941]}, "frame_index": {"min": [0], "max": [940], "mean": [470.0], "std": [271.6431482662502], "count": [941]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [941]}, "index": {"min": [10823], "max": [11763], "mean": [11293.0], "std": [271.6431482662502], "count": [941]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [941]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5737611085244131]], [[0.5229443850679664]], [[0.4764126577465896]]], "std": [[[0.2361855048895829]], [[0.23874968418088435]], [[0.2485508143650888]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5976180381499331]], [[0.46336457243644785]], [[0.42140365836790106]]], "std": [[[0.17896872153313306]], [[0.23347433704928447]], [[0.22942485212325908]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6193993586332559]], [[0.4849994224020817]], [[0.44223591807456947]]], "std": [[[0.1665019385029155]], [[0.2399999303954853]], [[0.23942115629616464]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1093]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1093]}, "observation.state": {"min": [0.8368346731193363, -2.343609641286845, 0.6999956333371313, 0.0, 0.0, -0.9991369843482971, 0.041537705808877945, -0.005141057123461135, -0.38889206727891334, -0.022203546903351024, -0.9989499449729919, -0.10241962969303131, -0.21074366569519043, 0.0001622162526473403, 0.014067125198505514, -0.04003022686058834], "max": [4.256622481018057, -0.8557259771753649, 0.7026080424608571, 0.0, 0.0, 0.2752225697040558, 1.0, 0.5150641722651966, 0.06266328596736148, 0.5968202239744623, 0.9996527433395386, 0.7578772902488708, 0.19353565573692322, 0.21650704741477966, 0.040017199269685826, -0.01322653653440332], "mean": [2.501707569009584, -1.516952402733698, 0.7013047680830532, 0.0, 0.0, -0.5243906189768829, 0.5144637788203694, 0.17768536495651777, -0.20459966179485467, 0.3152272536848464, -0.8003042095970475, 0.4283355498381389, 0.06819698827894838, 0.12536742185286515, 0.025779882510033714, -0.025776350736459064], "std": [1.5460684330552066, 0.5037640974605393, 0.0007548440566039016, 0.0, 0.0, 0.4991061344307791, 0.45960260725007024, 0.15673670088230235, 0.14044156855882967, 0.11584463289875335, 0.210659447686739, 0.3203275600306334, 0.0701384962412441, 0.06137959567343438, 0.011415004612280304, 0.011348727433462536], "count": [1093]}, "action": {"min": [-1.0, -0.8946428571428571, -0.5571428571428572, 0.0, -1.0, -1.0, -0.8892857142857145, -0.6160714285714286, -0.20357142857142857, -0.2057142857142857, -0.2571428571428572, -1.0], "max": [1.0, 0.44464285714285723, 0.345, 0.0, 1.0, 0.6642857142857143, 0.9964285714285716, 0.8303571428571429, 0.135, 0.18214285714285716, 0.4114285714285714, 1.0], "mean": [0.044291595869820906, -0.07336295909031498, -0.04906809567376819, 0.0, -0.3705397987191217, -0.0046415501241667935, -0.0019164161547510128, -0.012865965233302808, -0.004820938439419685, 0.0021252123905371786, -0.009275258136191348, 0.1838975297346752], "std": [0.2885414439772818, 0.2094708419706825, 0.16424541558530553, 0.0, 0.9288165898417268, 0.26222058429231915, 0.23540647828990197, 0.24428948682392151, 0.03494021493076372, 0.045299520673957865, 0.0995398410713075, 0.9829454199280322], "count": [1093]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014638609252870083], "std": [0.12010128796100616], "count": [1093]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009149130832570906], "std": [0.030233690104040815], "count": [1093]}, "timestamp": {"min": [0.0], "max": [54.6], "mean": [27.3], "std": [15.776089502788707], "count": [1093]}, "frame_index": {"min": [0], "max": [1092], "mean": [546.0], "std": [315.52179005577415], "count": [1093]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1093]}, "index": {"min": [11764], "max": [12856], "mean": [12310.0], "std": [315.52179005577415], "count": [1093]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1093]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6127794927459916]], [[0.5029367061440462]], [[0.42631092984068625]]], "std": [[[0.21865588219193646]], [[0.21078657477033186]], [[0.21681939514138693]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5484167153352227]], [[0.429253220502068]], [[0.3546014129040288]]], "std": [[[0.18018116093090086]], [[0.2062331009879451]], [[0.23239495050461842]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5675847088184233]], [[0.46004246929891746]], [[0.389569817437066]]], "std": [[[0.19862808955877978]], [[0.22829406686548268]], [[0.25005022010908906]]], "count": [150]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [799]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [799]}, "observation.state": {"min": [2.3271015426271564, -1.128524061530612, 0.6999936086632615, 0.0, 0.0, 0.7071068286895752, 0.27901220321655273, 0.08695538557750293, -0.4810237835036235, -0.014645607340507127, -0.9891880750656128, -0.9891809225082397, -0.16168546676635742, 0.0002558072446845472, 0.0024677220238663714, -0.04100868945137958], "max": [3.207292506505413, -0.8621835571360787, 0.7076032483819386, 0.0, 0.0, 0.9602875113487244, 0.7071067094802856, 0.5300035616673493, 0.3453800215677659, 0.6073484032419096, 0.9661398530006409, 0.9892687797546387, 0.22346074879169464, 0.41102468967437744, 0.04060015775880487, -0.013604613113765318], "mean": [3.1394254807335678, -0.9056874438851628, 0.7044356442789736, 0.0, 0.0, 0.9284735540573826, 0.3562122177570424, 0.31134656529271315, -0.053362003051163336, 0.3072728974426762, -0.023496507162295833, 0.18423302949071677, -0.012283289368870567, 0.059381915894224806, 0.030794415242935493, -0.03190484307024685], "std": [0.17389237704999233, 0.04165650336904745, 0.00286860378170238, 0.0, 0.0, 0.05416775201398258, 0.09008644057531924, 0.14703604221337907, 0.2547200868606443, 0.149815942351372, 0.7211264347741158, 0.6553693907139589, 0.0899342028652893, 0.06487275353002395, 0.012049409690198274, 0.011338058060025634], "count": [799]}, "action": {"min": [-0.6857142857142858, -1.0, -0.4257142857142857, 0.0, -1.0, -1.0, -0.8857142857142857, -0.7357142857142858, -0.21142857142857144, -0.38857142857142857, -0.07142857142857142, -1.0], "max": [0.942857142857143, 0.0, 0.5771428571428572, 0.0, 1.0, 0.6428571428571428, 1.0, 1.0, 0.1742857142857143, 0.2571428571428571, 0.4028571428571428, 1.0], "mean": [0.011013767209011262, -0.06985517611299838, 0.01824780976220276, 0.0, -0.799749687108886, -0.005176112998390868, -0.012908993384587866, -0.022215269086357948, -0.005764348292508492, -0.005717861612730198, 0.030649025567673897, -0.3141426783479349], "std": [0.12449339126776443, 0.23017124504292852, 0.1036165767487589, 0.0, 0.6003336055638, 0.3391663405495837, 0.27686735735470586, 0.3253892409861257, 0.045384758442425885, 0.07806823240353322, 0.07689476238100253, 0.9493757831545896], "count": [799]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02002503164112568], "std": [0.14008580148220062], "count": [799]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012515644555694619], "std": [0.0353553113687748], "count": [799]}, "timestamp": {"min": [0.0], "max": [39.9], "mean": [19.95], "std": [11.532562594670797], "count": [799]}, "frame_index": {"min": [0], "max": [798], "mean": [399.0], "std": [230.65125189341592], "count": [799]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [799]}, "index": {"min": [12857], "max": [13655], "mean": [13256.0], "std": [230.65125189341592], "count": [799]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [799]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5831011324395293]], [[0.5182694822877318]], [[0.46437571286590057]]], "std": [[[0.20666164855971605]], [[0.229940637274219]], [[0.2384060868023085]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.06666666666666667]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6094656788308773]], [[0.5788304962440957]], [[0.535741721615404]]], "std": [[[0.20082759233153363]], [[0.19300326397030954]], [[0.1923559729065596]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.06666666666666667]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6108224975217702]], [[0.5792561201257095]], [[0.5345692479027369]]], "std": [[[0.17843447804363238]], [[0.17023024617961283]], [[0.1750726030536888]]], "count": [182]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1034]}, "observation.state": {"min": [1.5161941946028978, -1.170570494440517, 0.6999953514078197, 0.0, 0.0, 0.6910390257835388, 0.7071047425270081, -0.024656104379219945, -0.07686138790028396, 0.014656647550795765, -0.996407151222229, -0.754349410533905, -0.35849717259407043, 8.625865120848175e-06, 0.020572505698049328, -0.04024901686616848], "max": [2.066880269826889, -1.0959778674430387, 0.702178480774691, 0.0, 0.0, 0.7071087956428528, 0.7228173613548279, 0.7046915566716885, 0.6969832411561117, 0.5966244349671788, 0.999708890914917, 0.7516732811927795, 0.3235956132411957, 0.3191222846508026, 0.040423110337235175, -0.01481201097229203], "mean": [2.0529916088154496, -1.13959939271627, 0.7007583736202689, 0.0, 0.0, 0.6913428196478166, 0.7225232969976717, 0.3704674853363732, 0.20625764614869285, 0.31750116465664513, -0.35105845649191675, 0.023042350022097046, -0.00577261991707309, 0.05788263706721395, 0.03598779827589569, -0.03507307142141171], "std": [0.06888206375997327, 0.007900549623876487, 0.0007027524450045874, 0.0, 0.0, 0.001632159993243827, 0.0015905632033623742, 0.22087546025900834, 0.2621152803000582, 0.154167832494669, 0.8228438563000248, 0.41809957357685484, 0.13134271803606265, 0.060935308531577644, 0.005085190565433453, 0.006464521506387699], "count": [1034]}, "action": {"min": [-0.4875000000000001, -0.7446428571428572, -0.08142857142857143, 0.0, -1.0, -0.7821428571428571, -1.0, -0.8732142857142857, -0.10714285714285715, -0.16071428571428573, -0.1842857142857143, -1.0], "max": [0.3267857142857143, 0.10714285714285715, 0.0, 0.0, 1.0, 0.6321428571428571, 1.0, 0.8678571428571429, 0.15642857142857142, 0.21214285714285713, 0.43499999999999994, 1.0], "mean": [0.001196808510638296, -0.019537510361978462, -0.0012040618955512575, 0.0, -0.8278529980657641, 0.01271932854379668, 0.005781983973473346, -0.014734733351754615, 0.0003896103896103893, 0.006407847471677264, 0.009845951920420006, -0.3152804642166344], "std": [0.05531931825509768, 0.10757487796430723, 0.008186798447051929, 0.0, 0.5609451074691109, 0.2547023719872448, 0.2711360712466579, 0.2757238510438052, 0.02879326668560808, 0.05442548980676873, 0.10216668668702554, 0.9489985399795526], "count": [1034]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015473888255655766], "std": [0.12342790514230728], "count": [1034]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009671179883945841], "std": [0.031083479071543903], "count": [1034]}, "timestamp": {"min": [0.0], "max": [51.65], "mean": [25.825], "std": [14.924497478977308], "count": [1034]}, "frame_index": {"min": [0], "max": [1033], "mean": [516.5], "std": [298.48994957954613], "count": [1034]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1034]}, "index": {"min": [13656], "max": [14689], "mean": [14172.5], "std": [298.48994957954613], "count": [1034]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4475545664689858]], [[0.3011079093374089]], [[0.28209882250019147]]], "std": [[[0.23217370702039172]], [[0.20071190113699117]], [[0.18575802439456812]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059087999341904]], [[0.4284873706514498]], [[0.4031995590257202]]], "std": [[[0.31579587771137074]], [[0.3266119631073629]], [[0.29965886515298185]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5257593582043092]], [[0.4048511489380009]], [[0.3712527823275949]]], "std": [[[0.2540894874170552]], [[0.28024263775746583]], [[0.25870928755349426]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [818]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [818]}, "observation.state": {"min": [2.855690796847317, -2.2714385217574127, 0.6999970296351999, 0.0, 0.0, 0.8867216110229492, 7.871318666730076e-05, 0.07122836656319187, -0.3387993821567745, 0.0015695394719751343, -0.9996679425239563, -0.7208001613616943, -0.5421091914176941, 0.00015372208144981414, 0.012197680546024525, -0.04019065656458422], "max": [3.2908017086377646, -1.3606721299327929, 0.7076471834476163, 0.0, 0.0, 1.0, 0.4623038172721863, 0.7250504683557732, 0.4110482389944483, 0.5934087316767833, 0.9995153546333313, 0.7247933149337769, 0.5056635141372681, 0.27115902304649353, 0.04086986447833052, 0.00075253018736769], "mean": [3.016198708290415, -2.155868994444135, 0.7049061776360346, 0.0, 0.0, 0.9000113580949732, 0.4210135710652955, 0.39370906897072266, 0.05626914812416921, 0.3327107876688485, -0.7065668911980534, 0.19511915631091317, -0.0065717273372659386, 0.06428872569859646, 0.03385470472885441, -0.032392332366025844], "std": [0.056881570788208366, 0.1904097135208123, 0.0030069325983939003, 0.0, 0.0, 0.028687853356168018, 0.10910608045821031, 0.202140122712399, 0.23387171747666455, 0.14130129782650636, 0.5501106771505232, 0.3539992738892104, 0.16379950239586485, 0.06122088521216564, 0.010074833071446276, 0.011364389977265516], "count": [818]}, "action": {"min": [-1.0, -0.7571428571428572, -0.5714285714285714, 0.0, -1.0, -1.0, -1.0, -0.8714285714285716, -0.4114285714285714, -0.5685714285714286, -0.4742857142857143, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.6714285714285714, 0.9071428571428573, 1.0, 0.24285714285714288, 0.3742857142857143, 0.6542857142857142, 1.0], "mean": [0.00889800908138316, 0.03631680055885435, -0.023471882640586788, 0.0, -0.7897310513447433, -0.010312609151239969, -0.01245197345441841, -0.033286762137617935, -0.004428920712539299, -0.013464896961229482, 0.0021271393643031745, -0.34963325183374083], "std": [0.15199667594410626, 0.2204771481974101, 0.09680573357340559, 0.0, 0.6134532309328101, 0.37622924562345733, 0.309556841876575, 0.3765697415749796, 0.07278752298092847, 0.11552279674931962, 0.12207042461581341, 0.9368866469387624], "count": [818]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01955990307033062], "std": [0.13848216831684113], "count": [818]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012224938875305623], "std": [0.03494280177984462], "count": [818]}, "timestamp": {"min": [0.0], "max": [40.85], "mean": [20.425], "std": [11.806804182334863], "count": [818]}, "frame_index": {"min": [0], "max": [817], "mean": [408.5], "std": [236.13608364669724], "count": [818]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [818]}, "index": {"min": [14690], "max": [15507], "mean": [15098.5], "std": [236.13608364669724], "count": [818]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [818]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5366144062420013]], [[0.510474263009199]], [[0.4961072253778514]]], "std": [[[0.18842430652362957]], [[0.20372023978303969]], [[0.2242243642604624]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5095614632355365]], [[0.5089894173310394]], [[0.4987088568662112]]], "std": [[[0.269886223086676]], [[0.2617050558870229]], [[0.2495778716192292]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4527201868636225]], [[0.45060677224218654]], [[0.44094191470966354]]], "std": [[[0.29308203724710813]], [[0.2842931725669534]], [[0.2673407818741672]]], "count": [158]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [860]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [860]}, "observation.state": {"min": [1.161497290084354, -1.069085324312067, 0.6999987699413324, 0.0, 0.0, 0.6871628165245056, 0.7071003913879395, -0.20816190257405598, -0.007272231297640985, 0.05179652553013114, -0.9986521601676941, -0.581261396408081, -0.14452746510505676, 0.00022007654479239136, 0.010582837476426707, -0.04001902481391344], "max": [1.6414097712248081, -0.8000105192578586, 0.7006295297052838, 0.0, 0.0, 0.7071130871772766, 0.7265035510063171, 0.3918258576798702, 0.7523553019501701, 0.6007306123178225, 0.9984263777732849, 0.5554589033126831, 0.16808675229549408, 0.15622557699680328, 0.040317331624047756, -0.007659487217257807], "mean": [1.6198322061647221, -0.816213565003785, 0.7001534512619144, 0.0, 0.0, 0.6885532377071159, 0.7251702662817268, 0.14250823383135974, 0.4000197668677724, 0.33076588214305186, -0.4162533478681431, -0.05313660759305538, -0.006588543330043078, 0.04510568890287094, 0.029579587994408938, -0.029273165049075706], "std": [0.0901141675286936, 0.05270102518127537, 0.000139896836033709, 0.0, 0.0, 0.003403207553513811, 0.0033079077035382933, 0.1546141873290741, 0.23652624160862618, 0.14093457676581075, 0.8588034336643345, 0.2723943083080316, 0.09087693815565, 0.04279135336675976, 0.012860460903800745, 0.01288905645813985], "count": [860]}, "action": {"min": [-0.45535714285714285, -0.7285714285714285, -0.10500000000000001, 0.0, -1.0, -0.7553571428571428, -0.9910714285714286, -0.42321428571428565, -0.12428571428571428, -0.2057142857142857, -0.3107142857142858, -1.0], "max": [0.5357142857142857, 0.0, 0.012857142857142857, 0.0, 1.0, 0.7178571428571429, 0.8142857142857143, 0.7714285714285715, 0.22285714285714286, 0.12214285714285715, 0.34285714285714286, 1.0], "mean": [0.019597176079734224, -0.0281374584717608, -0.0017342192691029892, 0.0, -0.8441860465116279, -0.010988372093023224, 0.04400332225913623, -0.020867940199335685, 0.0023870431893687717, -0.0014750830564784038, 0.007619601328903678, -0.23953488372093024], "std": [0.11369405085119832, 0.11131438693631569, 0.01257045946866321, 0.0, 0.5360502950983954, 0.26793435860696335, 0.34995482290421126, 0.22878611660685533, 0.03751365431703332, 0.043248821716958846, 0.09442023553373712, 0.970887758435959], "count": [860]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01976744271814823], "std": [0.13920016586780548], "count": [860]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011627906976744186], "std": [0.034079885790122895], "count": [860]}, "timestamp": {"min": [0.0], "max": [42.95], "mean": [21.475], "std": [12.413022395855089], "count": [860]}, "frame_index": {"min": [0], "max": [859], "mean": [429.5], "std": [248.26044791710177], "count": [860]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [860]}, "index": {"min": [15508], "max": [16367], "mean": [15937.5], "std": [248.26044791710177], "count": [860]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [860]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6158759586239918]], [[0.5792305301623982]], [[0.5551081671231035]]], "std": [[[0.20278848486273499]], [[0.19302265073246058]], [[0.1902087368625557]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.657833119202961]], [[0.6329814862107377]], [[0.6047222391113906]]], "std": [[[0.20008507668387418]], [[0.1873293663943367]], [[0.17599797828482883]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6891218148025812]], [[0.6565328957378]], [[0.6213248221160811]]], "std": [[[0.201304653964789]], [[0.1861011650060944]], [[0.17323430034422402]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1047]}, "observation.state": {"min": [2.312659096964974, -3.772433177378213, 0.6999987326909062, 0.0, 0.0, -0.9999995231628418, 0.00015275254554580897, 0.15929806989605044, -0.23450742499230603, 0.007793343605875469, -0.9966411590576172, -0.9124808311462402, -0.172335684299469, 7.260510756168514e-05, 0.014129524292338226, -0.040474137149557665], "max": [3.1188545940703345, -2.791919122411364, 0.7035575814880866, 0.0, 0.0, 1.0, 0.7259258031845093, 0.6866841785258226, 0.3801062357985545, 0.5976974882863425, 0.9905415177345276, 0.6630222797393799, 0.14138787984848022, 0.16816183924674988, 0.040592361157238126, -0.014571849915333456], "mean": [2.467192537918842, -3.5077134314066445, 0.7023311356504653, 0.0, 0.0, -0.09909024467440936, 0.3369649085911436, 0.36021705564089673, 0.029254380448207086, 0.34340396747213453, -0.8044622280023843, -0.06596841623271889, -0.028505538213709432, 0.07676828642206036, 0.030077013453199387, -0.03044971044977763], "std": [0.17581891692072188, 0.2093845277269597, 0.0011743097303242706, 0.0, 0.0, 0.8688231708062308, 0.3489729177212135, 0.1323980783565777, 0.1689266189302813, 0.14696761234264952, 0.3790144896202438, 0.43545845782247716, 0.08427585837687708, 0.0374737537184541, 0.011164619269807012, 0.01108473887210787], "count": [1047]}, "action": {"min": [-1.0, -0.7214285714285715, -0.98, 0.0, -1.0, -1.0, -0.9714285714285714, -0.6857142857142858, -0.12285714285714287, -0.2742857142857143, -0.6685714285714286, -1.0], "max": [0.6142857142857143, 0.95, 1.0, 0.0, 1.0, 0.8785714285714286, 0.9, 0.9214285714285714, 0.15428571428571428, 0.22, 0.5714285714285714, 1.0], "mean": [-0.025405921680993312, 0.01083367444398963, -0.0009823986901350845, 0.0, -0.6485195797516714, -0.0061468140264701945, -0.008896165916223216, -0.010165097557647667, 0.0011543184609087167, 0.004718242597898755, 0.004033292400054579, -0.20152817574021012], "std": [0.20293712578632805, 0.14530268904952554, 0.19410645253423012, 0.0, 0.7611979733805807, 0.2797776294526128, 0.3443570171429032, 0.29707292456216483, 0.031005110975904793, 0.046498237393181895, 0.16263222740912925, 0.9794827177560619], "count": [1047]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015281757339835167], "std": [0.1226712167263031], "count": [1047]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009551098376313276], "std": [0.030890089071243992], "count": [1047]}, "timestamp": {"min": [0.0], "max": [52.3], "mean": [26.15], "std": [15.112136403125358], "count": [1047]}, "frame_index": {"min": [0], "max": [1046], "mean": [523.0], "std": [302.2427280625072], "count": [1047]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1047]}, "index": {"min": [16368], "max": [17414], "mean": [16891.0], "std": [302.2427280625072], "count": [1047]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.597251075295841]], [[0.5713394146339567]], [[0.5456802801992379]]], "std": [[[0.20493962221321949]], [[0.20791416018074346]], [[0.20829513687616646]]], "count": [160]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6885817202399759]], [[0.6544405305151846]], [[0.6158932685852051]]], "std": [[[0.14824433358263325]], [[0.1392563597272598]], [[0.13560864889277732]]], "count": [160]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.688795628267176]], [[0.6574167139389936]], [[0.6218213848039216]]], "std": [[[0.14477769526502177]], [[0.13738254981570858]], [[0.13478294810504626]]], "count": [160]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [871]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [871]}, "observation.state": {"min": [3.2494485500800954, -2.3214533960691295, 0.6999979601834979, 0.0, 0.0, -0.726155161857605, 0.6875309348106384, -0.22991825156021428, -0.5096654959081701, 0.010066137560055477, -0.9929890036582947, -0.22263586521148682, -0.2163560539484024, 0.0007371664396487176, -0.0007690123740389973, -0.040959601348861445], "max": [3.752116668669541, -2.1325311951936787, 0.7024562566883743, 0.0, 0.0, -0.7071650624275208, 0.7070484757423401, 0.5397380905528157, 0.004801815756421135, 0.5974376647549368, 0.9930930733680725, 0.5073572397232056, 0.3705804646015167, 0.28057464957237244, 0.04019263507065719, -0.00981754224582084], "mean": [3.729169695231787, -2.3079414369890525, 0.7013332537774258, 0.0, 0.0, -0.7210373457619572, 0.6928853044964279, 0.23208539844745502, -0.24011443734075874, 0.3355801835586731, 0.45792910672219556, 0.17881273655338484, 0.002031375603460914, 0.0874181105751928, 0.03024925531916479, -0.03166130607277432], "std": [0.09275046392892353, 0.04744984811371256, 0.0008507360321993112, 0.0, 0.0, 0.002713883716974668, 0.0027803718224053324, 0.20820448732512972, 0.17923978935947404, 0.1455865754262652, 0.8219405117965652, 0.22923132800679719, 0.13320645988286248, 0.06930885459581322, 0.013694290987187536, 0.012892992876108591], "count": [871]}, "action": {"min": [-0.18214285714285713, -0.02142857142857143, -0.06857142857142857, 0.0, -1.0, -0.7392857142857142, -0.5625000000000001, -0.4875000000000001, -0.24857142857142855, -0.345, -0.2357142857142857, -1.0], "max": [0.6964285714285715, 0.6375000000000001, 0.03214285714285715, 0.0, 1.0, 0.7125, 0.8785714285714287, 0.7821428571428571, 0.2292857142857143, 0.19285714285714284, 0.2528571428571429, 1.0], "mean": [0.021397818599311134, 0.024042561915696238, -0.0016483516483516481, 0.0, -0.8140068886337543, -0.0012116614728554928, -0.005676972281449915, -0.023353698540265727, -0.0004772839101197327, 0.0018968345087748075, 0.00833278661636871, -0.25602755453501724], "std": [0.10103972865638809, 0.10928726147694207, 0.008656686663321686, 0.0, 0.5808552188426799, 0.2584045005811978, 0.2569702563362957, 0.23614042277597017, 0.0442552890154668, 0.08489978721510938, 0.06031960194475656, 0.9666694840113808], "count": [871]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01836968958377838], "std": [0.13428419828414917], "count": [871]}, "next.done": {"min": [false], "max": [true], "mean": [0.001148105625717566], "std": [0.03386425075488548], "count": [871]}, "timestamp": {"min": [0.0], "max": [43.5], "mean": [21.75], "std": [12.571793825862718], "count": [871]}, "frame_index": {"min": [0], "max": [870], "mean": [435.0], "std": [251.4358765172544], "count": [871]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [871]}, "index": {"min": [17415], "max": [18285], "mean": [17850.0], "std": [251.4358765172544], "count": [871]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [871]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4256156344065083]], [[0.361934307101359]], [[0.3166566012880643]]], "std": [[[0.2571404327274572]], [[0.21689268332116268]], [[0.20614624475975987]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3741917028323838]], [[0.3333003487718277]], [[0.30675499344223106]]], "std": [[[0.2479164146648449]], [[0.2248569803534496]], [[0.22042221539955217]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.395691465587215]], [[0.34561932727756745]], [[0.31141559317029777]]], "std": [[[0.24756111425719965]], [[0.2243759693291014]], [[0.2212471043179171]]], "count": [277]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1811]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1811]}, "observation.state": {"min": [-0.10851940002805753, -4.004679994417095, 0.6999922626591373, 0.0, 0.0, -0.9877997636795044, 0.15572917461395264, 0.004930099161147894, -0.4517579800810003, -0.0012624513546651839, -0.9952200651168823, -0.9330496788024902, -0.5640930533409119, 2.5224375349353068e-05, 0.012591813151525076, -0.04010007244780636], "max": [2.404196201447873, -1.2654757968695256, 0.7096721482759655, 0.0, 0.0, 0.7549998760223389, 1.0, 0.6366925201090741, 0.23016017215257767, 0.6484351336506015, 0.9872410893440247, 0.9312211275100708, 0.5629879236221313, 0.21026743948459625, 0.04084064482935382, 0.0006271613700697421], "mean": [1.2945876502565452, -2.55339882348836, 0.7072236789214192, 0.0, 0.0, -0.07994527370827009, 0.657000159572199, 0.2288120464845128, -0.05093413998528963, 0.4383187531619475, -0.5735217787526972, 0.22006942221945258, -0.12145081043933334, 0.04101581239771117, 0.028022026541301873, -0.029846760758688716], "std": [0.7811840480501476, 0.8722030951425682, 0.0034891994482620877, 0.0, 0.0, 0.7007223989452278, 0.26636001622524, 0.1730545842556799, 0.11771114823447162, 0.17255706073628854, 0.6186364736566674, 0.43863265134932017, 0.1726171434966432, 0.03610063860175595, 0.011780653958397507, 0.011631976099107388], "count": [1811]}, "action": {"min": [-1.0, -1.0, -0.7857142857142858, 0.0, -1.0, -1.0, -1.0, -0.8571428571428572, -0.2857142857142857, -0.43428571428571433, -0.4914285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8928571428571429, 1.0, 0.2571428571428571, 0.45999999999999996, 1.0, 1.0], "mean": [0.026181273171886076, -0.08756014830007101, 0.024609923483473992, 0.0, -0.19381557150745443, 0.018245641713339134, -0.0024335410586100903, 0.001187189398122583, -0.0012873708290605046, 0.003773763508716563, 0.0033714601246351687, 0.034787410270568746], "std": [0.3452253647939181, 0.4851917253549706, 0.23064844190855965, 0.0, 0.9810379830777237, 0.2784007863530706, 0.19434345784063536, 0.29864583598252437, 0.04124327575988007, 0.08669977516336701, 0.14982708742770218, 0.9993947348704072], "count": [1811]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0088348975405097], "std": [0.09357800334692001], "count": [1811]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005521811154058532], "std": [0.023492045705336993], "count": [1811]}, "timestamp": {"min": [0.0], "max": [90.5], "mean": [45.25], "std": [26.139529452536056], "count": [1811]}, "frame_index": {"min": [0], "max": [1810], "mean": [905.0], "std": [522.7905890507211], "count": [1811]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1811]}, "index": {"min": [18286], "max": [20096], "mean": [19191.0], "std": [522.7905890507211], "count": [1811]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1811]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6139758114743417]], [[0.5907114610830633]], [[0.5606448596521509]]], "std": [[[0.2709985774480297]], [[0.23718518440492636]], [[0.23477579715584035]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6056316737669594]], [[0.6135144679921454]], [[0.5854208701007617]]], "std": [[[0.1959135006049811]], [[0.17589732029981947]], [[0.176421622531935]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6076082347128628]], [[0.616172022979484]], [[0.5873209768705968]]], "std": [[[0.20242258221696424]], [[0.1864634123803632]], [[0.1864713200578495]]], "count": [211]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1261]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1261]}, "observation.state": {"min": [4.826640608976603, -3.49947988006779, 0.699999459335031, 0.0, 0.0, -0.796016275882721, 0.6052751541137695, 0.09329966092413455, -0.2977525379296333, 0.05242479027082003, -0.9983282685279846, -0.5178859829902649, -0.3124195337295532, 0.00011967300088144839, 0.013460865945527879, -0.04004515752961633], "max": [6.091669264980675, -2.626021680885379, 0.7037011225184532, 0.0, 0.0, -0.1284181773662567, 0.9917200803756714, 0.5928112422454452, 0.4863132969145576, 0.6712503427122412, 0.9979221820831299, 0.5986485481262207, 0.31141453981399536, 0.23697571456432343, 0.04120427678384762, -0.0075616180817351985], "mean": [5.490889353914873, -3.3302167827275335, 0.7023090321722204, 0.0, 0.0, -0.4609438519242451, 0.8285952684521959, 0.3450828041709217, 0.052922650481979194, 0.37784552139049665, -0.48298443398902946, 0.11287231551015027, -0.0785375133150868, 0.08660799094300767, 0.03186171772457982, -0.030398444306047188], "std": [0.5023315991699502, 0.23059108277486584, 0.0013275340783666394, 0.0, 0.0, 0.28322957441315155, 0.144019619129902, 0.11759128167523182, 0.1948816216356447, 0.1399170504546004, 0.7949424205444191, 0.2913056652321246, 0.12930702174778924, 0.08248659185003454, 0.009864994038669498, 0.010841924232417808], "count": [1261]}, "action": {"min": [-0.8500000000000001, -0.8571428571428572, -0.62, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3142857142857143, -0.5428571428571428, -0.17714285714285713, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 0.5071428571428571, 1.0, 1.0, 0.26285714285714284, 0.30857142857142855, 0.30285714285714294, 1.0], "mean": [0.053970771496544695, 0.05542653223065596, -0.0027801064914467154, 0.0, -0.5162569389373514, 0.0018126203693213582, -0.00934065934065936, -0.00905743740795285, -0.004574600657074882, 0.003013481363996826, 0.0020324005891016214, -0.14195083267248215], "std": [0.21109298837351392, 0.28574700967418154, 0.1461445495049182, 0.0, 0.8564337528373354, 0.1910740206547022, 0.28873478564275534, 0.34561193862181466, 0.05358484305871125, 0.06392043924826558, 0.05671625783693001, 0.9898737096739113], "count": [1261]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012688342481851578], "std": [0.1119256317615509], "count": [1261]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007930214115781126], "std": [0.02814946764361435], "count": [1261]}, "timestamp": {"min": [0.0], "max": [63.0], "mean": [31.5], "std": [18.200961513062985], "count": [1261]}, "frame_index": {"min": [0], "max": [1260], "mean": [630.0], "std": [364.0192302612597], "count": [1261]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1261]}, "index": {"min": [20097], "max": [21357], "mean": [20727.0], "std": [364.0192302612597], "count": [1261]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1261]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6095633211030352]], [[0.5453797138877265]], [[0.4778305797512135]]], "std": [[[0.18534075070906017]], [[0.19702692977204192]], [[0.21108981787689968]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6121318655424591]], [[0.5374408786693033]], [[0.4732580961540189]]], "std": [[[0.14300121381098244]], [[0.15248111102319695]], [[0.1677003847631915]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5862734698194156]], [[0.5351627994620509]], [[0.4844731142309621]]], "std": [[[0.16455467757142658]], [[0.17324547531037054]], [[0.19193959936757168]]], "count": [179]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1013]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1013]}, "observation.state": {"min": [0.8335721883758117, -2.913275238531998, 0.6999997202023354, 0.0, 0.0, -1.0, 8.979458243629779e-08, 0.17078672617837143, -0.33842997371901884, 0.05183620777888431, -0.9911186695098877, -0.876157820224762, -0.29091310501098633, 1.3176081665733363e-05, 0.005265245829549662, -0.04092829897737428], "max": [1.138006521847297, -2.657612952829003, 0.7089260505643833, 0.0, 0.0, -0.707928478717804, 0.7062841653823853, 0.5884695370908956, 0.27155903425069006, 0.605827206679409, 0.9012786746025085, 0.8794021606445312, 0.3021058440208435, 0.13216091692447662, 0.04013808241304538, -0.012339158349387999], "mean": [0.8737024168411273, -2.78476473265901, 0.7044807108005201, 0.0, 0.0, -0.8255385895942771, 0.5119540546047908, 0.33098249269320806, -0.032632031926770375, 0.33027284355814773, -0.7894971282731628, -0.35937255796004614, -0.0687363760063956, 0.042493114308502326, 0.029974799219591085, -0.030392892089276945], "std": [0.06204869947153026, 0.032288768315190376, 0.002721308996012376, 0.0, 0.0, 0.11773336424703153, 0.20622303212420678, 0.09151444770827245, 0.14564462252265076, 0.16531427967439002, 0.3548489350575289, 0.3286697238822184, 0.07891556059796237, 0.02908747984349947, 0.011560498835645173, 0.010946771149977667], "count": [1013]}, "action": {"min": [-0.8642857142857142, -0.6928571428571428, -0.58, 0.0, -1.0, -0.8714285714285716, -0.6642857142857144, -1.0, -0.18285714285714286, -0.16, -0.15714285714285714, -1.0], "max": [0.807142857142857, 0.44285714285714284, 0.6971428571428572, 0.0, 1.0, 1.0, 0.8714285714285716, 1.0, 0.15714285714285714, 0.36, 0.34, 1.0], "mean": [0.013552390353969816, -0.05771400366661965, -0.00037794387251444914, 0.0, -0.46692991115498517, -0.0031730362431250853, -0.010252432661119715, -0.022070229868847862, -0.006388379636158512, 0.006385559159497952, 0.01969256804399942, -0.18065153010858837], "std": [0.16540340778236692, 0.1428864945164844, 0.16028748761748435, 0.0, 0.8842943277375457, 0.23122447769819773, 0.24003635860519226, 0.3101631211112918, 0.02977206721082533, 0.05514648951379814, 0.059846576174603, 0.983547164435657], "count": [1013]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015794670209288597], "std": [0.12468038499355316], "count": [1013]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009871668311944718], "std": [0.031403699349628555], "count": [1013]}, "timestamp": {"min": [0.0], "max": [50.6], "mean": [25.299999999999997], "std": [14.62138844296259], "count": [1013]}, "frame_index": {"min": [0], "max": [1012], "mean": [506.0], "std": [292.4277688592518], "count": [1013]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1013]}, "index": {"min": [21358], "max": [22370], "mean": [21864.0], "std": [292.4277688592518], "count": [1013]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1013]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5033887604227355]], [[0.3898410932409486]], [[0.36930314181229823]]], "std": [[[0.2500964181681625]], [[0.25040947127912627]], [[0.24346755367804113]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5352919261887004]], [[0.4026532524564214]], [[0.374077559523959]]], "std": [[[0.19659009426758317]], [[0.25425163105860793]], [[0.243515020898623]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4848548440372243]], [[0.365163843197211]], [[0.342452824722465]]], "std": [[[0.2332039980724617]], [[0.2671481975004976]], [[0.25287831158128743]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1042]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1042]}, "observation.state": {"min": [2.5209566941708195, -1.0922688880503615, 0.6999951648269924, 0.0, 0.0, 0.7070490717887878, 0.3131815195083618, 0.13309863588583926, -0.46995744185251975, -0.0011213900783758612, -0.9983637928962708, -0.4366298317909241, -0.28613874316215515, 5.594793037744239e-05, 0.016480382464645112, -0.04106963234567481], "max": [2.623420360937567, -1.0455371941482876, 0.7152493549683817, 0.0, 0.0, 0.9496933221817017, 0.707164466381073, 0.6262012384241271, 0.2247506650486144, 0.6108636040965826, 0.9984374642372131, 0.5097593069076538, 0.3075769543647766, 0.2863345742225647, 0.04095920404902171, 0.0017279379217794199], "mean": [2.5922413768309283, -1.0867572231937532, 0.7085007347538658, 0.0, 0.0, 0.9325820908894237, 0.3465113769680433, 0.31276942089842885, -0.13653316097963228, 0.30753700530223993, -0.08059382181249973, 0.09762665020541472, -0.03378654312235263, 0.052175932792615044, 0.03458857073097395, -0.03172229336784025], "std": [0.011676726113843029, 0.011068657524075489, 0.005200666114229411, 0.0, 0.0, 0.05165583764712447, 0.08690329417272857, 0.13879111386134033, 0.20856198997627312, 0.1372639843589672, 0.9363473001995946, 0.28862027796672624, 0.1308717756638451, 0.054170692126652244, 0.008856155750002195, 0.010477423874479141], "count": [1042]}, "action": {"min": [0.0, -0.7785714285714286, 0.0, 0.0, -1.0, -0.8428571428571429, -0.8642857142857142, -1.0, -0.17142857142857143, -0.36857142857142855, -0.4028571428571428, -1.0], "max": [0.09285714285714286, 0.07857142857142858, 0.39714285714285713, 0.0, 1.0, 0.6214285714285714, 0.8928571428571429, 1.0, 0.2142857142857143, 0.26285714285714284, 0.2571428571428571, 1.0], "mean": [0.00020564847820126137, -0.014313134082807788, 0.019001919385796543, 0.0, -0.8598848368522073, 0.007821497120921323, 0.00589525637510283, -0.04348779819029336, -0.0047683027145599115, 0.0006580751302440314, 0.004060871949547566, -0.19577735124760076], "std": [0.003436128368043958, 0.07046998144832961, 0.0740971666238749, 0.0, 0.5104880677857829, 0.2483702207633648, 0.24281098965594203, 0.30084196722135137, 0.03785534734066992, 0.07220606312785108, 0.07190464038123544, 0.9806483716085401], "count": [1042]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015355085954070091], "std": [0.12296059727668762], "count": [1042]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009596928982725527], "std": [0.030964041852018575], "count": [1042]}, "timestamp": {"min": [0.0], "max": [52.05], "mean": [26.025], "std": [15.039967586401243], "count": [1042]}, "frame_index": {"min": [0], "max": [1041], "mean": [520.5], "std": [300.7993517280248], "count": [1042]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1042]}, "index": {"min": [22371], "max": [23412], "mean": [22891.5], "std": [300.7993517280248], "count": [1042]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1042]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47575901757111716]], [[0.4120900215995608]], [[0.36459590032025013]]], "std": [[[0.2606601046264433]], [[0.23973097249676914]], [[0.2417745444704716]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48150459938828144]], [[0.43169642923238283]], [[0.39802042118872155]]], "std": [[[0.26723448552335044]], [[0.27482442239728927]], [[0.28953244636777486]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5188975910767416]], [[0.4536637065047709]], [[0.4090925273351629]]], "std": [[[0.24216470412952085]], [[0.2543312855736988]], [[0.2748526698615454]]], "count": [194]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1128]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1128]}, "observation.state": {"min": [0.9201610251789173, -1.792988969070728, 0.699989107178272, 0.0, 0.0, -0.3573593199253082, 0.6974589824676514, 0.0007375835857031943, -0.29298668535012506, 0.04387388877924914, -0.9984148740768433, -0.7265459299087524, -0.23787058889865875, 6.220726208994165e-05, -0.0007962480173544816, -0.04120484129066637], "max": [4.221539846602042, -0.7454581972277636, 0.7116981658770003, 0.0, 0.0, 0.7166246771812439, 0.9999998807907104, 0.4413269628568694, 0.1534406276244722, 0.6228710688767523, 0.9963390827178955, 0.945090115070343, 0.2430681437253952, 0.3608754575252533, 0.04132586082971277, -0.0030260174347454954], "mean": [2.6992266923272816, -0.9967750882924308, 0.7060267429620756, 0.0, 0.0, 0.4448284508479517, 0.8431105085826934, 0.2192068260736156, -0.06763457733368472, 0.359283970047984, -0.5546651635292574, 0.31794907886812346, -0.051020662465107176, 0.11889575785554493, 0.02813439498491592, -0.026943664313030805], "std": [1.448870964203341, 0.2716789455354424, 0.0037068978058623996, 0.0, 0.0, 0.27523293385000835, 0.12465612886457372, 0.09319021443018109, 0.10860892417040967, 0.12684148621108474, 0.5363182641002289, 0.5137510844486748, 0.11991081365260162, 0.09251795879236908, 0.010737373097316077, 0.0115116053588744], "count": [1128]}, "action": {"min": [-1.0, -1.0, -0.9371428571428573, 0.0, -1.0, -0.9857142857142858, -1.0, -0.9214285714285714, -0.5571428571428572, -0.41428571428571437, -0.6485714285714286, -1.0], "max": [1.0, 1.0, 0.9771428571428572, 0.0, 1.0, 0.7428571428571429, 1.0, 1.0, 0.34, 0.6085714285714285, 0.8114285714285715, 1.0], "mean": [0.1584346504559271, -0.047650709219858166, 0.006555217831813568, 0.0, -0.36524822695035464, -0.02040273556231003, 0.008105369807497466, -0.024506079027355614, -0.0027786220871327243, 0.011588145896656549, 0.008776595744680859, 0.12056737588652482], "std": [0.3825946766535828, 0.3446827830838233, 0.21306827896610075, 0.0, 0.9309101636085071, 0.27812494534018445, 0.24613945693637096, 0.3193611468513432, 0.07256981645697848, 0.09733046583001181, 0.1767041414969221, 0.9927051464920652], "count": [1128]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014184396713972092], "std": [0.11825057864189148], "count": [1128]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008865248226950354], "std": [0.029761365836160493], "count": [1128]}, "timestamp": {"min": [0.0], "max": [56.35], "mean": [28.175], "std": [16.281271193204375], "count": [1128]}, "frame_index": {"min": [0], "max": [1127], "mean": [563.5], "std": [325.62542386408757], "count": [1128]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1128]}, "index": {"min": [23413], "max": [24540], "mean": [23976.5], "std": [325.62542386408757], "count": [1128]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1128]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5821384835750498]], [[0.5537934851934874]], [[0.5217737144032036]]], "std": [[[0.23669446737395078]], [[0.22116210925891572]], [[0.22852179431297076]]], "count": [282]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.574454908353731]], [[0.5744500782075006]], [[0.5452523613586129]]], "std": [[[0.20166914439827255]], [[0.19360856356010112]], [[0.19709285081515535]]], "count": [282]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5694866981978476]], [[0.5739630732975953]], [[0.5473438110691071]]], "std": [[[0.19893891388653365]], [[0.18759631814863614]], [[0.189619003712826]]], "count": [282]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1851]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1851]}, "observation.state": {"min": [1.9618050443387187, -4.18372070578133, 0.6999909979158279, 0.0, 0.0, -0.9999926090240479, 0.0038536086212843657, -0.057678003270019484, -0.1014595617433578, 0.016921037939135797, -0.9957008957862854, -0.33762168884277344, -0.307240754365921, 0.0006498965667560697, 0.01265256497386444, -0.04046358359205899], "max": [5.583042905199001, -1.1444550291812745, 0.7098114387940614, 0.0, 0.0, 0.9999561309814453, 0.9999991655349731, 0.5304950012483616, 0.4120374761346844, 0.7010019359808503, 0.9835832118988037, 0.48885247111320496, 0.42297473549842834, 0.22418321669101715, 0.040038748702148394, -0.013476011711020204], "mean": [3.8611527737640894, -2.496872189166563, 0.7072370614900096, 0.0, 0.0, -0.025581480571819012, 0.7480526042387426, 0.19934997939691393, 0.05640023893497372, 0.4862954272451885, -0.08565138105699528, 0.07061572221567153, 0.00642467581197807, 0.04912342951529388, 0.028815422961371313, -0.029202481815689255], "std": [0.7385849654845487, 0.8970788769342134, 0.002915774829929566, 0.0, 0.0, 0.6221824954701335, 0.22945986407636107, 0.14411701629164425, 0.08007634190450746, 0.1745229714292824, 0.938303048251406, 0.25199340227092215, 0.19915983103387946, 0.04055797901877201, 0.011219138407587077, 0.011105212105589233], "count": [1851]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.6714285714285714, -0.8, -0.2714285714285714, -0.39714285714285713, -0.5057142857142857, -1.0], "max": [1.0, 1.0, 0.8942857142857144, 0.0, 1.0, 0.7214285714285715, 1.0, 1.0, 0.2885714285714286, 0.44285714285714284, 0.2714285714285714, 1.0], "mean": [0.2108512773018446, -0.2404183067067992, 0.16297754109747628, 0.0, 0.0005402485143165856, 0.006579455120784127, 0.0023307864474801303, -0.0014895423323300055, -0.0014015590028555998, 0.0008998996681330567, 0.0029219726788608427, -0.03835764451647758], "std": [0.44910485350110213, 0.4630179975964629, 0.245141607472071, 0.0, 0.9999998540657563, 0.26591414006044123, 0.1808495503146398, 0.3282467627443248, 0.04201385803083578, 0.07805650873413643, 0.06520670810482838, 0.9992640747605899], "count": [1851]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008643976412713528], "std": [0.09257028996944427], "count": [1851]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005402485143165856], "std": [0.023236967225939025], "count": [1851]}, "timestamp": {"min": [0.0], "max": [92.5], "mean": [46.25], "std": [26.71687980784183], "count": [1851]}, "frame_index": {"min": [0], "max": [1850], "mean": [925.0], "std": [534.3375961568366], "count": [1851]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1851]}, "index": {"min": [24541], "max": [26391], "mean": [25466.0], "std": [534.3375961568366], "count": [1851]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1851]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5402150176911785]], [[0.5195822077158667]], [[0.5057165501932928]]], "std": [[[0.21331875591359437]], [[0.22599499937505163]], [[0.2394082760875901]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5027912722907013]], [[0.5149858911736115]], [[0.5137305584256123]]], "std": [[[0.2624797413622373]], [[0.24119551610352383]], [[0.23970203824925476]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.435267167420532]], [[0.4507732857564044]], [[0.4511577744526214]]], "std": [[[0.24097165283330949]], [[0.2221003357868634]], [[0.2202523457178641]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [770]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [770]}, "observation.state": {"min": [3.6349547207761415, -0.988802886890274, 0.6999972908650693, 0.0, 0.0, -0.032906871289014816, 0.999458372592926, 0.12009587306858105, -0.26323786843006003, 0.03469224731209197, -0.996741771697998, -0.16439825296401978, -0.23060479760169983, 8.631272794445977e-05, 0.012034882037663371, -0.040426111264073056], "max": [3.7604134865757306, -0.951078140749299, 0.7045179072062985, 0.0, 0.0, 0.00023102137492969632, 1.0, 0.7185897256210438, 0.25343485488278994, 0.6086958493776045, 0.999325156211853, 0.7701841592788696, 0.24334347248077393, 0.09428934007883072, 0.040008488496709745, -0.008257241957448107], "mean": [3.6364568287971353, -0.983821247518711, 0.7026252630386502, 0.0, 0.0, -0.019745150277585354, 0.9998003723559441, 0.38676866012371636, -0.045863842068141765, 0.31692028225944296, -0.16660529754378578, 0.31548590636872625, 0.024553388708021907, 0.045889495933069714, 0.03079547663500877, -0.03182883791750185], "std": [0.012056695570325194, 0.003328608945913986, 0.0019323074338765348, 0.0, 0.0, 0.0030657008110379492, 4.934390995715544e-05, 0.16431913034233012, 0.16763014395346532, 0.15336175959879414, 0.8911445799289283, 0.2523604788552471, 0.1068898938404942, 0.027435062766268056, 0.011898672434991793, 0.011618389073000392], "count": [770]}, "action": {"min": [-0.6107142857142858, -0.35892857142857143, -0.14357142857142857, 0.0, -1.0, -0.8785714285714287, -0.5464285714285714, -0.6482142857142857, -0.1907142857142857, -0.12428571428571428, -0.2292857142857143, -1.0], "max": [0.0, 0.0, 0.08357142857142857, 0.0, 1.0, 0.7339285714285714, 1.0, 0.9964285714285716, 0.08142857142857143, 0.14785714285714285, 0.22071428571428572, 1.0], "mean": [-0.007854823747680893, -0.004146567717996289, -0.0014387755102040819, 0.0, -0.8571428571428571, 0.0024907235621520565, 0.011537569573283857, -0.033165584415584475, -0.007978664192949913, 0.009809833024118747, 0.014910946196660503, -0.3220779220779221], "std": [0.0595244023946662, 0.033395512521498076, 0.0178904484000592, 0.0, 0.5150787536377087, 0.31150817944127723, 0.27673832058159753, 0.313743407741806, 0.035544668770337295, 0.04191248962336315, 0.08163317730477626, 0.946713162531273], "count": [770]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020779220387339592], "std": [0.1426444798707962], "count": [770]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012987012987012987], "std": [0.036014089932109215], "count": [770]}, "timestamp": {"min": [0.0], "max": [38.45], "mean": [19.225], "std": [11.11398330932704], "count": [770]}, "frame_index": {"min": [0], "max": [769], "mean": [384.5], "std": [222.27966618654077], "count": [770]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [770]}, "index": {"min": [26392], "max": [27161], "mean": [26776.5], "std": [222.27966618654077], "count": [770]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [770]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5774354226636346]], [[0.4818244578712699]], [[0.4161829197526106]]], "std": [[[0.20246531494252903]], [[0.20720737536810044]], [[0.2138270407845997]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5867471583380518]], [[0.5258111199601231]], [[0.47529381330447035]]], "std": [[[0.15451740845581255]], [[0.1775382926275447]], [[0.1963570267561717]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6036433938459514]], [[0.5470004553474129]], [[0.4950963806571465]]], "std": [[[0.14547571370183537]], [[0.1695471679278653]], [[0.18820517607906762]]], "count": [237]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1472]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1472]}, "observation.state": {"min": [2.1866599421807407, -2.3568241504793064, 0.6999949798338405, 0.0, 0.0, -0.4319595694541931, 0.901892900466919, 0.035499340438018834, -0.5087882369055494, -0.04435119013890376, -0.9984419941902161, -0.847212016582489, -0.36460524797439575, 0.00017821374058257788, 0.00610498181591761, -0.041153677679049185], "max": [2.4497258913592552, -1.9413161267609589, 0.7197602489701634, 0.0, 0.0, 0.03546872362494469, 1.0, 0.7223277604699327, 0.2080187058489089, 0.6280882414887677, 0.9842560291290283, 0.8471134305000305, 0.3791126608848572, 0.33815333247184753, 0.04076306189862547, -0.0006926788992618085], "mean": [2.3990197568302483, -2.1340542195512477, 0.709609579054666, 0.0, 0.0, -0.2429878994765158, 0.9455001044856466, 0.29755681361379827, -0.10777839557712998, 0.3817011943998319, -0.41347693915114453, 0.2147427486615134, -0.06320897765364031, 0.08309319312742565, 0.031254234753365605, -0.029845031923918547], "std": [0.05221508909948758, 0.08900660557368792, 0.006272910019748077, 0.0, 0.0, 0.21191636151662313, 0.045583930718645346, 0.15137035419636274, 0.19224027044527386, 0.17962648045726332, 0.772602144034255, 0.3895532970093098, 0.1346022118173019, 0.07238038032500348, 0.012915363077318887, 0.014321315020753756], "count": [1472]}, "action": {"min": [-0.5357142857142857, -0.7857142857142857, -0.41428571428571437, 0.0, -1.0, -1.0, -0.9571428571428572, -0.7785714285714286, -0.26571428571428574, -0.4514285714285714, -0.3485714285714286, -1.0], "max": [0.7857142857142857, 1.0, 0.32285714285714284, 0.0, 1.0, 0.5857142857142857, 0.9285714285714287, 0.8928571428571429, 0.19714285714285715, 0.2742857142857143, 0.4657142857142857, 1.0], "mean": [0.009651591614906837, 0.010389169254658392, 0.0009957298136646004, 0.0, -0.65625, -0.0119031444099379, -0.01718264751552792, -0.03627232142857142, -0.006471273291925474, -0.005324145962732919, 0.0023951863354037205, -0.34375], "std": [0.10808806316650359, 0.14089379570588098, 0.08669643750158026, 0.0, 0.7545435292281023, 0.24642373451929062, 0.2549246594395572, 0.26576473213002766, 0.04132769572418909, 0.07077188638700743, 0.08991145695727008, 0.939061200082295], "count": [1472]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010869565419852734], "std": [0.103689044713974], "count": [1472]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006793478260869565], "std": [0.026055446889626504], "count": [1472]}, "timestamp": {"min": [0.0], "max": [73.55], "mean": [36.775], "std": [21.246485003407038], "count": [1472]}, "frame_index": {"min": [0], "max": [1471], "mean": [735.5], "std": [424.9297000681407], "count": [1472]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1472]}, "index": {"min": [27162], "max": [28633], "mean": [27897.5], "std": [424.9297000681407], "count": [1472]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1472]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6518551129984849]], [[0.5808182861098607]], [[0.5417189670576065]]], "std": [[[0.21260930043920548]], [[0.24409568908122867]], [[0.2816190835421562]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.08235294117647059]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6533269451345258]], [[0.6133142443136154]], [[0.5934298015044256]]], "std": [[[0.22004954843779526]], [[0.25785800986373897]], [[0.28826488619472385]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292762032958918]], [[0.5842609795901585]], [[0.5605215002444686]]], "std": [[[0.24360229313651532]], [[0.2746441261044426]], [[0.303416540926024]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [773]}, "observation.state": {"min": [1.5259441791967367, -3.395561053043012, 0.6999974095431519, 0.0, 0.0, -0.004111987538635731, 0.9999915361404419, -0.2287020911902924, -0.7155002866901028, 0.049643532727600026, -0.9971644282341003, -0.562553346157074, -0.26034513115882874, 0.00013661562115885317, 0.008101651377622797, -0.04039035949180499], "max": [1.7365181345186593, -3.261856097149023, 0.7014955323091736, 0.0, 0.0, 2.4289238353958353e-06, 1.0, 0.3675938033581079, 0.010032111220599216, 0.6124949098748554, 0.9943585395812988, 0.653446614742279, 0.41468918323516846, 0.45786112546920776, 0.040323734843152645, -0.01338279984707866], "mean": [1.723727532962442, -3.2661575266149625, 0.7007265701024133, 0.0, 0.0, -0.0038823700021018664, 0.999992245381739, 0.12960952431341355, -0.40234579360177275, 0.32087487701084705, -0.19056235332846796, 0.17415912301890446, -0.04310061913496079, 0.10073692190499565, 0.03245833991739437, -0.03241483906994198], "std": [0.04412104613310394, 0.022463374634604745, 0.0005606433576363039, 0.0, 0.0, 0.0006708648501671528, 1.451023200376881e-06, 0.1716325404403744, 0.22526624342067045, 0.17061612984886573, 0.9035373996094561, 0.2721693896423219, 0.13596311351535084, 0.11138680008671466, 0.010815197575759881, 0.010752660355053678], "count": [773]}, "action": {"min": [-0.0642857142857143, 0.0, -0.03428571428571429, 0.0, -1.0, -0.9535714285714285, -0.8196428571428573, -0.7714285714285715, -0.1842857142857143, -0.375, -0.5292857142857142, -1.0], "max": [0.6589285714285714, 0.6000000000000001, 0.0, 0.0, 1.0, 0.675, 1.0, 0.7125, 0.21000000000000002, 0.21857142857142856, 0.2014285714285714, 1.0], "mean": [0.02028506745518389, 0.011310293845869526, -0.0002688966919238588, 0.0, -0.8111254851228978, -0.007124376270559948, -0.015376085751247494, -0.02422149325448164, -0.002178894843836631, 0.0032461652189983356, -0.024164664572167822, -0.3816300129366106], "std": [0.09515924019581479, 0.06421360770864382, 0.0023690806009743735, 0.0, 0.5848721632836941, 0.26693387914035355, 0.39459783772594326, 0.2844973279995656, 0.07260308176887961, 0.0787711282106801, 0.10349456996773439, 0.9243151698560396], "count": [773]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020698577165603638], "std": [0.14237326383590698], "count": [773]}, "next.done": {"min": [false], "max": [true], "mean": [0.00129366106080207], "std": [0.035944227657049944], "count": [773]}, "timestamp": {"min": [0.0], "max": [38.6], "mean": [19.3], "std": [11.15728461589109], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [773]}, "index": {"min": [28634], "max": [29406], "mean": [29020.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.495854713427812]], [[0.45930370660326]], [[0.4332468364037003]]], "std": [[[0.18546294482947878]], [[0.19635134644399208]], [[0.21455980381821455]]], "count": [222]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4835535232390306]], [[0.4777774971842534]], [[0.4444922914355072]]], "std": [[[0.17766349564571268]], [[0.17638184819066094]], [[0.18939365669601396]]], "count": [222]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49030847055839155]], [[0.4855744529499053]], [[0.4571456016994706]]], "std": [[[0.176003903736389]], [[0.17316846375658151]], [[0.19000392341437466]]], "count": [222]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1349]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1349]}, "observation.state": {"min": [1.3573235020414902, -1.2754614306919525, 0.6999977960272934, 0.0, 0.0, 0.5397922992706299, 0.27688726782798767, -0.03866242453466784, -0.20980400745707906, -0.024843217685585617, -0.9991986155509949, -0.5671141743659973, -0.45527949929237366, 6.049884632375324e-06, -0.0010324003358697517, -0.04121058031233765], "max": [3.5994085913555085, -0.80763886668423, 0.7267244384895121, 0.0, 0.0, 0.9609023928642273, 0.8417982459068298, 0.5281455450197328, 0.42495911421858373, 0.6493728190925144, 0.9812371134757996, 0.5375233888626099, 0.5298948884010315, 0.18888765573501587, 0.04102657376144244, -0.0064658791762160295], "mean": [2.2904826447258704, -0.9022622626342524, 0.7139025975532645, 0.0, 0.0, 0.872744225192017, 0.4584062155570871, 0.19527064907217956, 0.02151385495028516, 0.41604415502774517, -0.1564353737590753, 0.013175995096707893, -0.036335322896964097, 0.05906792952847908, 0.033849851154169365, -0.03239242952434887], "std": [0.9102179728803348, 0.08003365425510738, 0.007718077330841039, 0.0, 0.0, 0.08354986927572705, 0.14560452625438758, 0.14708450699448863, 0.1187309231355987, 0.1796298817227505, 0.9305639369491568, 0.23539823347853472, 0.2161623979791158, 0.04957156241170995, 0.010700069406604859, 0.0102682672220301], "count": [1349]}, "action": {"min": [-1.0, -1.0, -0.8314285714285715, 0.0, -1.0, -1.0, -0.9714285714285714, -1.0, -0.28285714285714286, -0.46857142857142864, -0.4114285714285714, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 0.8857142857142857, 1.0, 1.0, 0.2142857142857143, 0.3657142857142857, 0.3914285714285714, 1.0], "mean": [0.0023933072116912, -0.05860955204913694, 0.008825585089484259, 0.0, -0.4840622683469237, -0.026882346711850035, -0.008567192629460969, -0.053849412263052, -0.006527586572063963, -0.007431960182145507, 0.0048692152917505, -0.19792438843587842], "std": [0.25861362303260504, 0.35502336890837616, 0.1854721305185251, 0.0, 0.8750335538496948, 0.35748821412789167, 0.21855946443547036, 0.4257703126131894, 0.04076800808029706, 0.10716183779357126, 0.07542872971125576, 0.9802172904322104], "count": [1349]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011860637925565243], "std": [0.10825878381729126], "count": [1349]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007412898443291327], "std": [0.027216545219697286], "count": [1349]}, "timestamp": {"min": [0.0], "max": [67.4], "mean": [33.7], "std": [19.471132478620753], "count": [1349]}, "frame_index": {"min": [0], "max": [1348], "mean": [674.0], "std": [389.4226495724151], "count": [1349]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1349]}, "index": {"min": [29407], "max": [30755], "mean": [30081.0], "std": [389.4226495724151], "count": [1349]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1349]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5142784162576267]], [[0.460360937775002]], [[0.42296930713359143]]], "std": [[[0.25398433029404405]], [[0.1851443003206749]], [[0.20260912965743685]]], "count": [235]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705221907735418]], [[0.5032741959452082]], [[0.44709549554944983]]], "std": [[[0.18356355568060578]], [[0.19747352713209787]], [[0.21117939679062156]]], "count": [235]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5675526234066183]], [[0.5035433011458823]], [[0.4449123879417957]]], "std": [[[0.17709397211388522]], [[0.1898483827679671]], [[0.20153110396140525]]], "count": [235]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1457]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1457]}, "observation.state": {"min": [0.8293804949239062, -3.1546414769352458, 0.6999995332969089, 0.0, 0.0, -0.9999970197677612, 0.00015088487998582423, 0.018937914846087534, -0.2640142500779336, -0.035948931911952475, -0.9992501139640808, -0.6350741982460022, -0.23790951073169708, 1.2196986062917858e-05, -0.00022094824436359975, -0.04071180909997639], "max": [1.2309077722052022, -1.0673915873724076, 0.7087558952551155, 0.0, 0.0, 1.0, 0.5661012530326843, 0.585764483533497, 0.42057035200029524, 0.6160896786912128, 0.9355951547622681, 0.6740492582321167, 0.17880500853061676, 0.23642076551914215, 0.04005513916815388, -0.0048078522584926306], "mean": [0.9697144622486121, -2.1873801757477604, 0.7050280024271264, 0.0, 0.0, 0.8040106310857512, 0.3650686733851373, 0.32398145265479045, 0.08379941004914335, 0.3467324502290462, -0.13129366217366456, 0.3031608642052729, -0.017909361724833643, 0.07912713642282637, 0.02833841215308826, -0.029083324975820033], "std": [0.09412205623290357, 0.5789831564546392, 0.002911297993412194, 0.0, 0.0, 0.4124480674872581, 0.22400527397259723, 0.14981688951602537, 0.1644099289580365, 0.1684920753521496, 0.853908227845133, 0.36563241701203, 0.12843521122814688, 0.07022593802712963, 0.015513711302701768, 0.014970343265210725], "count": [1457]}, "action": {"min": [-0.8410714285714286, -0.8892857142857145, -0.4564285714285714, 0.0, -1.0, -0.7767857142857144, -0.6375000000000001, -0.5839285714285714, -0.17785714285714288, -0.17142857142857143, -0.44571428571428573, -1.0], "max": [0.6107142857142858, 0.9375, 0.43499999999999994, 0.0, 1.0, 0.7071428571428573, 0.7875, 0.7071428571428573, 0.09, 0.18857142857142858, 0.3064285714285715, 1.0], "mean": [-0.0061256005490735, 0.038842043337582025, -0.016582508089028322, 0.0, -0.43719972546328073, -0.004382782625747624, -0.0011765859397980419, -0.028212324737719556, 0.00021619766643788497, 0.0015427983135601563, 0.00546524169036181, -0.29993136582017843], "std": [0.2017477286069516, 0.1973069414862024, 0.13531721645209052, 0.0, 0.8993644422895828, 0.22587360002057713, 0.19257482720190497, 0.2155645916113043, 0.02997583710507013, 0.04433290178856612, 0.10040906151249238, 0.9539607831547636], "count": [1457]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010981468483805656], "std": [0.10421552509069443], "count": [1457]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006863417982155113], "std": [0.026189133875551013], "count": [1457]}, "timestamp": {"min": [0.0], "max": [72.8], "mean": [36.4], "std": [21.02997860198626], "count": [1457]}, "frame_index": {"min": [0], "max": [1456], "mean": [728.0], "std": [420.5995720397252], "count": [1457]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1457]}, "index": {"min": [30756], "max": [32212], "mean": [31484.0], "std": [420.5995720397252], "count": [1457]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1457]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46208289197988617]], [[0.3294832691624038]], [[0.3003592678711518]]], "std": [[[0.2257813755312172]], [[0.19476287200933334]], [[0.18781898600491362]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5363758035026274]], [[0.4301035327424057]], [[0.3980931572735628]]], "std": [[[0.26257095836345445]], [[0.2953541209589795]], [[0.2764209061565777]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5145334707295265]], [[0.4386600554072047]], [[0.4097390770038583]]], "std": [[[0.29835795220578454]], [[0.31450811749574353]], [[0.2893433875098338]]], "count": [198]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1159]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1159]}, "observation.state": {"min": [4.319928415251081, -3.412781527367943, 0.6999964790474298, 0.0, 0.0, -0.1203206330537796, 0.8438973426818848, 0.05314316999621216, -0.013381070278410512, -0.00034804236737406846, -0.9988370537757874, -0.5998636484146118, -0.39070358872413635, 9.7352392913308e-05, -0.00010988736809015009, -0.040872004715719806], "max": [4.753713490639144, -3.059304910257751, 0.7210357176775873, 0.0, 0.0, 0.5365046858787537, 1.0, 0.6555319720838403, 0.5041845056149288, 0.5929980914349329, 0.9988957643508911, 0.5981622338294983, 0.1872650682926178, 0.3401099145412445, 0.040124043821389135, -0.00969252855910046], "mean": [4.646964100471776, -3.221246564963262, 0.7115907923263081, 0.0, 0.0, 0.20989902232173646, 0.926309893108628, 0.2918800598192398, 0.17803095357492243, 0.3207741650438341, -0.5930115073996438, -0.10481893810555275, -0.06812772003437993, 0.056775277592962206, 0.028103175281421113, -0.02854445707151498], "std": [0.08791870828944323, 0.12513356872096953, 0.007371501414211164, 0.0, 0.0, 0.3047969532266804, 0.07064844769365589, 0.13847383073604513, 0.1444838423980219, 0.14169443144585184, 0.7405382162277583, 0.25224428918229613, 0.1115805591523454, 0.07079032869540033, 0.01248769033848639, 0.012334133731647061], "count": [1159]}, "action": {"min": [-0.7642857142857143, -0.8785714285714286, -0.9571428571428573, 0.0, -1.0, -1.0, -1.0, -0.95, -0.18857142857142858, -0.29714285714285715, -0.84, -1.0], "max": [1.0, 1.0, 0.4, 0.0, 1.0, 1.0, 1.0, 1.0, 0.32571428571428573, 0.3914285714285714, 0.4114285714285714, 1.0], "mean": [0.033723653395784564, 0.007716011339824969, -0.0001750277332676044, 0.0, -0.6911130284728214, 0.010057931714532219, 0.0009367681498829498, -0.02766547516331801, 5.91643042031318e-05, 0.008034019474916793, 0.002763466042154566, -0.07851596203623813], "std": [0.15413955230584206, 0.18965023164990297, 0.1404188476286344, 0.0, 0.7227466927458823, 0.34355207904415225, 0.31140817547071836, 0.37439910685436417, 0.0533907757605121, 0.08331144535343772, 0.12892324201651237, 0.9969128566256602], "count": [1159]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013805004768073559], "std": [0.11668087542057037], "count": [1159]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008628127696289905], "std": [0.02936100004689138], "count": [1159]}, "timestamp": {"min": [0.0], "max": [57.9], "mean": [28.950000000000003], "std": [16.72871782295344], "count": [1159]}, "frame_index": {"min": [0], "max": [1158], "mean": [579.0], "std": [334.5743564590687], "count": [1159]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1159]}, "index": {"min": [32213], "max": [33371], "mean": [32792.0], "std": [334.5743564590687], "count": [1159]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1159]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6943916129711037]], [[0.5111933706962484]], [[0.3603010309464228]]], "std": [[[0.2563519812828625]], [[0.18217952257808992]], [[0.1726357504949888]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7341240762350504]], [[0.5623820091805541]], [[0.3861804678799411]]], "std": [[[0.1702371989096285]], [[0.17709023377095096]], [[0.2402764117418368]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07450980392156863]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7453034879892736]], [[0.5787976446352378]], [[0.40872647547663854]]], "std": [[[0.1586998260206005]], [[0.18179389217543743]], [[0.24477022392507028]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [707]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [707]}, "observation.state": {"min": [5.557654520358828, -4.759382882525158, 0.699999161455875, 0.0, 0.0, -0.0041383495554327965, 0.9999914169311523, 0.18266727337281274, -0.1906731972950002, -0.0016614707029977138, -0.9994329810142517, -0.3561682403087616, -0.2333448976278305, 0.0007386782672256231, 0.007780587589476816, -0.04076235469714754], "max": [5.743216723554357, -4.504137178221695, 0.7136809539547485, 0.0, 0.0, -7.591303437948227e-05, 1.0, 0.7779219515725089, 0.19373529217672392, 0.5940466462083365, 0.9344000220298767, 0.44545602798461914, 0.2576442360877991, 0.1999761462211609, 0.04028631549757248, -0.006827960180174449], "mean": [5.5602886732891355, -4.51322053318858, 0.7094708712140875, 0.0, 0.0, -0.003779238081572836, 0.9999927916317715, 0.45802197213422163, 0.0068663637096430695, 0.2954454836212341, -0.7896073997610866, 0.1529818381139379, -0.04608012798756507, 0.05866707948306865, 0.03262032761502817, -0.031978397928587116], "std": [0.01762773407980968, 0.04172042549701467, 0.005531836929441736, 0.0, 0.0, 0.00043875660181642764, 9.355665725353633e-07, 0.19765053997966797, 0.09469944588206812, 0.13850332679776226, 0.5200078516574994, 0.24513780746748132, 0.11551360571162758, 0.06088841560504599, 0.010711926576512742, 0.011797398569648154], "count": [707]}, "action": {"min": [-0.7339285714285714, 0.0, -0.027857142857142858, 0.0, -1.0, -1.0, -0.6857142857142857, -1.0, -0.14785714285714285, -0.24214285714285713, -0.3107142857142858, -1.0], "max": [0.0, 0.47678571428571426, 0.0, 0.0, 1.0, 0.9107142857142857, 0.8732142857142857, 1.0, 0.1007142857142857, 0.43499999999999994, 0.08142857142857143, 1.0], "mean": [-0.018246110325318247, 0.021860476864012938, -0.0002909678722974338, 0.0, -0.8387553041018387, -0.09477672257021622, -0.014434734289755493, -0.10931753889674709, -0.003706809456455848, 0.0007637906647807566, -0.010590018185492017, -0.44554455445544555], "std": [0.08297794671133167, 0.08835649119812858, 0.0023947223520148033, 0.0, 0.5445085305493564, 0.46151663779432206, 0.20808315989703433, 0.4056511788445817, 0.02755596712478719, 0.0745758223206644, 0.05103218010073151, 0.8952597667688947], "count": [707]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04384724050760269], "std": [0.20475512742996216], "count": [707]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014144271570014145], "std": [0.03758226380646795], "count": [707]}, "timestamp": {"min": [0.0], "max": [35.3], "mean": [17.65], "std": [10.204655800172782], "count": [707]}, "frame_index": {"min": [0], "max": [706], "mean": [353.0], "std": [204.09311600345563], "count": [707]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [707]}, "index": {"min": [33372], "max": [34078], "mean": [33725.0], "std": [204.09311600345563], "count": [707]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [707]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5220370378304126]], [[0.47659102380324836]], [[0.43578218543995034]]], "std": [[[0.24679019321159648]], [[0.24464910155417416]], [[0.2443940041029126]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48588527114372865]], [[0.4092064679444848]], [[0.36461843156523865]]], "std": [[[0.21218462604896712]], [[0.22413241718058505]], [[0.23154181045690522]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5048868694421703]], [[0.4353437450419621]], [[0.39331324689371383]]], "std": [[[0.23919233429999287]], [[0.25109030416383565]], [[0.25585804190974126]]], "count": [238]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1481]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1481]}, "observation.state": {"min": [0.8253658703978288, -5.274226298559966, 0.6999958284819771, 0.0, 0.0, -1.0, 1.7302778587691137e-07, -0.08501441411366417, -0.21324621984378922, -0.036824048989389624, -0.9933561682701111, -0.7778839468955994, -0.2699100077152252, 8.195901318686083e-05, -0.0011079867427463497, -0.04074166997546451], "max": [1.0924873741850945, -3.171742062751833, 0.7228612835737392, 0.0, 0.0, 1.0, 0.6607087254524231, 0.5194039774390995, 0.34605004800642725, 0.6069919731881287, 0.9903415441513062, 0.7976967096328735, 0.21533533930778503, 0.290466845035553, 0.040142663011643015, -0.011871434284113311], "mean": [0.9071910208987974, -4.7269095206883325, 0.7154809870821804, 0.0, 0.0, -0.7783725680651333, 0.41138209860311037, 0.17603183603388364, -9.682967761721088e-05, 0.38879343178650905, -0.06255594964449185, 0.0582610202461461, 0.01773641667277917, 0.057928462648784255, 0.02951415153009308, -0.030677784845983387], "std": [0.05534900550488224, 0.7569097007319693, 0.00777749107074931, 0.0, 0.0, 0.42706455168878293, 0.20619597901420902, 0.15759875801980122, 0.11711499199804265, 0.18025893974075918, 0.9131437661611767, 0.3663730807472055, 0.13765074180361914, 0.04487338076871426, 0.01232256867172721, 0.011636305105539065], "count": [1481]}, "action": {"min": [-1.0, -1.0, -0.6314285714285715, 0.0, -1.0, -0.8214285714285715, -0.8785714285714286, -0.8571428571428572, -0.38, -0.4828571428571429, -0.8314285714285715, -1.0], "max": [1.0, 1.0, 0.6971428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.32857142857142857, 0.29714285714285715, 0.43428571428571433, 1.0], "mean": [0.045529082666152215, -0.05791935950612514, 0.0038815472171312812, 0.0, -0.47332883187035785, 0.012713417574997606, -0.010137937686891082, -0.028426738690074314, -0.001242403781228898, 0.0033278672711488416, 0.007240281662969048, -0.22079675894665765], "std": [0.28089236556620006, 0.33333470833641365, 0.16981905130835293, 0.0, 0.8808858137807841, 0.29229591653453885, 0.18952183536992834, 0.34096489340404806, 0.04710856996153006, 0.0663282909986513, 0.11789264564654249, 0.9753198404824223], "count": [1481]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01080351136624813], "std": [0.10337696224451065], "count": [1481]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006752194463200541], "std": [0.02597621075175063], "count": [1481]}, "timestamp": {"min": [0.0], "max": [74.0], "mean": [37.0], "std": [21.376388843768723], "count": [1481]}, "frame_index": {"min": [0], "max": [1480], "mean": [740.0], "std": [427.5277768753745], "count": [1481]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1481]}, "index": {"min": [34079], "max": [35559], "mean": [34819.0], "std": [427.5277768753745], "count": [1481]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1481]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6601680377498521]], [[0.6252349568767431]], [[0.5970015107336037]]], "std": [[[0.22373566033804038]], [[0.2305233396901073]], [[0.23551303358254877]]], "count": [145]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7085194360863284]], [[0.6777798806500644]], [[0.6491979666833059]]], "std": [[[0.18479593976092623]], [[0.17720068021358273]], [[0.17963162689478387]]], "count": [145]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.702960654897735]], [[0.6756987353383568]], [[0.6506190380331146]]], "std": [[[0.1838946705889905]], [[0.17591911943751187]], [[0.17814112026078752]]], "count": [145]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [768]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [768]}, "observation.state": {"min": [2.584740239283662, -1.1806352553418744, 0.6999981263605511, 0.0, 0.0, 0.7006154656410217, 0.6928686499595642, -0.2000295975820926, -0.011194071542220296, -0.009588462505488948, -0.9969324469566345, -0.5197501182556152, -0.22235062718391418, 0.0001834535360103473, 0.010642492019363176, -0.04046327465086193], "max": [3.348804516154413, -0.7893548903130607, 0.7019022263570632, 0.0, 0.0, 0.7210638523101807, 0.7135389447212219, 0.39253032936629034, 0.7662977555446986, 0.6021025036859676, 0.9956835508346558, 0.5203155279159546, 0.278449684381485, 0.15481218695640564, 0.04001272399607742, 0.0007671245276921285], "mean": [3.3252157740997155, -0.8111101997003765, 0.7007303043100079, 0.0, 0.0, 0.7084786248548577, 0.7057265960611403, 0.14662514295215298, 0.44804867086633343, 0.30600978891166364, -0.24247253127396107, 0.024951136234449223, 0.02720219488846472, 0.06160641108311893, 0.03328879124960387, -0.03157533772769107], "std": [0.11532515346959188, 0.0769059346626589, 0.0006319660282816389, 0.0, 0.0, 0.001988014957432105, 0.002009826257435293, 0.14439528050280684, 0.24654778948424425, 0.16875881528518102, 0.9342207520692625, 0.22626145260204628, 0.09971559033439929, 0.04629627521633019, 0.011410316430548432, 0.012195193367269985], "count": [768]}, "action": {"min": [-0.8624999999999999, -1.0, -0.08357142857142857, 0.0, -1.0, -0.7875, -0.9642857142857142, -0.7392857142857142, -0.2014285714285714, -0.17785714285714288, -0.10928571428571428, -1.0], "max": [0.7607142857142858, 0.0, 0.13714285714285715, 0.0, 1.0, 0.7071428571428573, 1.0, 0.7446428571428572, 0.2442857142857143, 0.23357142857142857, 0.2014285714285714, 1.0], "mean": [0.020919363839285724, -0.0365025111607143, 0.00019531249999999974, 0.0, -0.7890625, -0.012081473214285696, 0.043468656994047616, -0.02984095982142855, -0.002720424107142858, -0.00030691964285713797, 0.014137834821428582, -0.390625], "std": [0.1366954783215907, 0.15679278813029257, 0.01884282186763673, 0.0, 0.6143129260350543, 0.2708634294029831, 0.32777944921521673, 0.27924095119827896, 0.044540543943632174, 0.047943450924576955, 0.04485392131466099, 0.9205498951034647], "count": [768]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02083333395421505], "std": [0.1428261399269104], "count": [768]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013020833333333333], "std": [0.036060891729495385], "count": [768]}, "timestamp": {"min": [0.0], "max": [38.35], "mean": [19.175], "std": [11.085115771459794], "count": [768]}, "frame_index": {"min": [0], "max": [767], "mean": [383.5], "std": [221.70231542919586], "count": [768]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [768]}, "index": {"min": [35560], "max": [36327], "mean": [35943.5], "std": [221.70231542919586], "count": [768]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [768]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6310720803149591]], [[0.48429299463797654]], [[0.35485629653536993]]], "std": [[[0.2656886388439181]], [[0.19322086100361271]], [[0.19693456308999377]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6523277340978538]], [[0.5350317436352111]], [[0.4206119895596499]]], "std": [[[0.18884744471389286]], [[0.1796721901074896]], [[0.23150780762379156]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6573801830752347]], [[0.5195415894436517]], [[0.38460694083734437]]], "std": [[[0.1885048653555336]], [[0.18094033879059324]], [[0.23460900429652873]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1095]}, "observation.state": {"min": [0.8208399372404919, -2.8406790831534057, 0.6999959135668176, 0.0, 0.0, -1.0, 9.220631369544208e-08, 0.05547026374343278, -0.06182863048930276, 0.003946819819847458, -0.9959041476249695, -0.3785203993320465, -0.2802940607070923, 4.0089151298161596e-05, 0.011249167280681666, -0.04008549138794123], "max": [1.2302198291061157, -1.0018826541491186, 0.7059266101790934, 0.0, 0.0, 1.0, 0.3174305260181427, 0.7510343773735547, 0.23268845247968617, 0.5987217669144568, 0.9975562691688538, 0.3786640763282776, 0.5038569569587708, 0.1541692316532135, 0.04079342243956801, -0.000984654491223372], "mean": [1.040057141331628, -2.215349620047844, 0.7036356029782137, 0.0, 0.0, -0.5682531471666136, 0.19668517083299877, 0.3072030016541592, 0.05487171857973178, 0.36655327701307433, -0.3021672812771035, -0.01827822505203012, -0.06763414560187961, 0.043385867860990704, 0.03154482621110944, -0.02893623589286519], "std": [0.10164687784614054, 0.6125941349751857, 0.0020760858030324696, 0.0, 0.0, 0.7907653847589023, 0.11442642973666584, 0.19311895659702788, 0.07477691808782815, 0.150358741074971, 0.9126686341311311, 0.21425052776708567, 0.14699301205992296, 0.037813503908044326, 0.010130844079038458, 0.012190700713304343], "count": [1095]}, "action": {"min": [-1.0, -1.0, -0.4228571428571429, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.14, -0.4571428571428572, -0.5285714285714286, -1.0], "max": [0.8285714285714285, 1.0, 0.40857142857142864, 0.0, 1.0, 0.7428571428571429, 0.5428571428571429, 1.0, 0.2142857142857143, 0.28285714285714286, 0.22285714285714286, 1.0], "mean": [-0.011474233529028039, 0.006060013046314432, 0.00649445531637313, 0.0, -0.554337899543379, 0.004377038486627482, 0.0028832354859752046, -0.011245923026744967, 0.0004931506849315073, -0.003924331376386174, 0.002677103718199614, -0.11598173515981736], "std": [0.18540309057394166, 0.2799374268367045, 0.10250775461327787, 0.0, 0.83229171155902, 0.3958279902039935, 0.13611137454421274, 0.3302874785254569, 0.02812811698475627, 0.08235704996409426, 0.07974896089015053, 0.9932513463919004], "count": [1095]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014611871913075447], "std": [0.1199931725859642], "count": [1095]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009132420091324201], "std": [0.030206092070394937], "count": [1095]}, "timestamp": {"min": [0.0], "max": [54.7], "mean": [27.35], "std": [15.804957028308133], "count": [1095]}, "frame_index": {"min": [0], "max": [1094], "mean": [547.0], "std": [316.0991405661627], "count": [1095]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1095]}, "index": {"min": [36328], "max": [37422], "mean": [36875.0], "std": [316.0991405661627], "count": [1095]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5621632635028753]], [[0.4913697553064414]], [[0.4298217309521904]]], "std": [[[0.22847955740811693]], [[0.20010448174502435]], [[0.1872866426430309]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5497741279005348]], [[0.4806994108513973]], [[0.44724697189515944]]], "std": [[[0.21529159332052214]], [[0.19576311334490087]], [[0.18057781807551174]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5194376667944653]], [[0.45830465225586153]], [[0.4313824946304123]]], "std": [[[0.21382581757049302]], [[0.20097317420823724]], [[0.1926317891079894]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1008]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1008]}, "observation.state": {"min": [1.2587605680215257, -1.6855214524688915, 0.6999978344637618, 0.0, 0.0, 0.29875051975250244, 0.463360458612442, 0.049264213343424124, -0.3651852469311867, 0.00466503277278596, -0.994093120098114, -0.9422820806503296, -0.17368833720684052, 0.00024359508825000376, -0.0008388746937862561, -0.04080943368312566], "max": [4.986344941544852, -0.773152718620941, 0.7061645758043282, 0.0, 0.0, 0.8861698508262634, 0.9543312788009644, 0.4925346132434729, 0.020410926556476472, 0.611068125497634, 0.9991066455841064, 0.9129422903060913, 0.3256762623786926, 0.1415354609489441, 0.04167971561937062, -0.0008273717161601733], "mean": [3.0581821696965608, -0.9420407033743969, 0.7031076815766862, 0.0, 0.0, 0.5733635766461255, 0.7804728544775456, 0.23942977846122399, -0.1405732080894586, 0.3591556074595892, -0.4180543902847502, 0.3055112076930643, -0.02655052724323183, 0.060301329103403696, 0.029067893992419037, -0.028030199614463142], "std": [1.7136773830046945, 0.20424737819109715, 0.0018598198556863308, 0.0, 0.0, 0.20504050502014887, 0.14168530263308857, 0.1152784287067071, 0.10786602897590374, 0.14660639638012368, 0.7018100535105677, 0.4725081101955107, 0.09721174496814368, 0.04796728356847924, 0.010967854795312605, 0.011373959194329679], "count": [1008]}, "action": {"min": [-1.0, -1.0, -0.4657142857142857, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.19428571428571428, -0.31142857142857144, -0.4657142857142857, -1.0], "max": [1.0, 1.0, 0.8028571428571428, 0.0, 1.0, 0.942857142857143, 0.7785714285714286, 1.0, 0.14, 0.32571428571428573, 0.8371428571428572, 1.0], "mean": [0.06330073696145128, 0.0945861678004535, -0.009186507936507939, 0.0, -0.49404761904761907, -0.011203231292517005, -0.010636337868480733, -0.01079931972789117, 2.267573696145064e-05, 0.0013435374149659903, 0.012981859410430835, 0.02976190476190476], "std": [0.3344576695471707, 0.32338946910799815, 0.17476112357612697, 0.0, 0.8694348452376145, 0.32265052410536016, 0.2487779778483733, 0.32797903448453736, 0.03738885229014768, 0.06789532922094074, 0.147666770850848, 0.9995570163952336], "count": [1008]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01587301678955555], "std": [0.1249842494726181], "count": [1008]}, "next.done": {"min": [false], "max": [true], "mean": [0.000992063492063492], "std": [0.03148141200917149], "count": [1008]}, "timestamp": {"min": [0.0], "max": [50.35], "mean": [25.174999999999997], "std": [14.549219623975256], "count": [1008]}, "frame_index": {"min": [0], "max": [1007], "mean": [503.5], "std": [290.9843924795051], "count": [1008]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1008]}, "index": {"min": [37423], "max": [38430], "mean": [37926.5], "std": [290.9843924795051], "count": [1008]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1008]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4701301057920949]], [[0.41462078706465944]], [[0.379232949921579]]], "std": [[[0.19866337439589885]], [[0.20345959928316132]], [[0.21947118262422502]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42869607038038937]], [[0.40546147351596445]], [[0.3949596343830945]]], "std": [[[0.18917769100160553]], [[0.19991476303770891]], [[0.20694214070349198]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4387778661255318]], [[0.4142180692703329]], [[0.40315210373006405]]], "std": [[[0.19847193692098322]], [[0.20946967293400268]], [[0.216972300321846]]], "count": [176]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [989]}, "observation.state": {"min": [0.7684314348587853, -3.638755436812072, 0.6999985844980365, 0.0, 0.0, -1.0, 9.267087364150939e-08, -0.0112667937800624, -0.23316335225635926, 0.054298981687756154, -0.9993406534194946, -0.7216637134552002, -0.11258994042873383, 0.00019282280118204653, 0.0010061183081539532, -0.040092562494325926], "max": [1.2902471751880333, -0.13269271174194003, 0.7015816593167599, 0.0, 0.0, 1.0, 0.2785906493663788, 0.5723325492539899, 0.013848778780953142, 0.5835474026365234, 0.9991791844367981, 0.7218600511550903, 0.13917239010334015, 0.12395686656236649, 0.04010818758724376, -0.00765790021198583], "mean": [1.0019215907211403, -2.046076674483376, 0.7003215977571531, 0.0, 0.0, 0.25326433648233826, 0.12491928817876859, 0.26636975085249676, -0.12041850824301767, 0.38438965361278815, -0.5703185702720234, -0.1781642678616563, 0.01017740356961712, 0.045945694406675286, 0.02860960063688601, -0.028579299504560677], "std": [0.16399023705113366, 1.1504803665003835, 0.0003812039312779932, 0.0, 0.0, 0.9561449469188613, 0.07771221633745372, 0.1383248572973135, 0.05555317317584669, 0.137966147492884, 0.7357024897768971, 0.3075963416225666, 0.06714587787616276, 0.01993507429962038, 0.012025163322201118, 0.012383734805244625], "count": [989]}, "action": {"min": [-1.0, -1.0, -0.42642857142857143, 0.0, -1.0, -0.9535714285714285, -0.525, -0.7607142857142858, -0.0642857142857143, -0.20357142857142857, -0.5871428571428571, -1.0], "max": [0.7982142857142857, 1.0, 0.42642857142857143, 0.0, 1.0, 0.8624999999999999, 0.43928571428571433, 0.9107142857142857, 0.2828571428571429, 0.2528571428571429, 0.3, 1.0], "mean": [0.02802975588617653, 0.09240574895276617, -0.0005265058500650072, 0.0, -0.22345803842264914, -0.015399754441716044, -0.009804275603062247, -0.009679690885454296, 0.004612884587606532, 0.0017810197891087681, 0.0013606817853531853, -0.10616784630940344], "std": [0.2994393877025181, 0.38685108779080973, 0.125129304467717, 0.0, 0.9747135502619788, 0.32935519340163577, 0.09685396893918868, 0.29459632443701533, 0.02782870681114079, 0.047908513326129755, 0.09728833884596237, 0.9943482229128987], "count": [989]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016177957877516747], "std": [0.12615954875946045], "count": [989]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010111223458038423], "std": [0.03178207006168192], "count": [989]}, "timestamp": {"min": [0.0], "max": [49.4], "mean": [24.699999999999996], "std": [14.274978108564651], "count": [989]}, "frame_index": {"min": [0], "max": [988], "mean": [494.0], "std": [285.499562171293], "count": [989]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [989]}, "index": {"min": [38431], "max": [39419], "mean": [38925.0], "std": [285.499562171293], "count": [989]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.558056328248328]], [[0.4720239887974964]], [[0.39982738551922353]]], "std": [[[0.21996808666969442]], [[0.21970234483366105]], [[0.23869249413837465]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5873028656408162]], [[0.5224245459557741]], [[0.4536710229283936]]], "std": [[[0.24174473296731902]], [[0.2677226290360311]], [[0.2797294610954151]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5926601167769479]], [[0.5297533928839566]], [[0.4621875668702443]]], "std": [[[0.24762769595556966]], [[0.2738020823868261]], [[0.2879082645587996]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [994]}, "observation.state": {"min": [0.7586735405990136, -2.516815773895534, 0.699995486658008, 0.0, 0.0, -0.9999998807907104, 0.0004018205509055406, 0.012275801935058173, -0.26577095820880015, -0.0316120618021829, -0.9945017099380493, -0.6041945219039917, -0.16839948296546936, 6.872185622341931e-05, 0.0036637844853172298, -0.04096126953199079], "max": [4.199125895771672, -1.801563064121687, 0.7027566643925357, 0.0, 0.0, 1.0, 1.0, 0.46006516974412115, 0.17459571841667687, 0.6164848276340129, 0.9789178967475891, 0.7511463761329651, 0.23633137345314026, 0.14697107672691345, 0.04001236076252582, -0.009838565906994265], "mean": [2.433403440928995, -2.1333876130320366, 0.7009887402734892, 0.0, 0.0, 0.41264581529227307, 0.47344569041228207, 0.2216501492713745, -0.138120849752923, 0.3324310103835653, 0.1042366144163028, 0.16892213039325038, 0.06022612767869567, 0.06277648835580925, 0.026679127349389473, -0.027495451071259627], "std": [1.5304499100988813, 0.3167518797544175, 0.0007587445191355438, 0.0, 0.0, 0.6124822766027098, 0.480039738741643, 0.14418588160441898, 0.12448498948365211, 0.1607841235376462, 0.9082729438238962, 0.3502851992464441, 0.06304050395979308, 0.03739525963878472, 0.012235421814192531, 0.011410018045168556], "count": [994]}, "action": {"min": [-0.8357142857142857, -0.5196428571428572, -0.08571428571428572, 0.0, -1.0, -0.942857142857143, -0.8785714285714287, -0.8517857142857143, -0.06857142857142857, -0.165, -0.22285714285714286, -1.0], "max": [0.9803571428571428, 0.8089285714285713, 0.4821428571428572, 0.0, 1.0, 0.7125, 1.0, 0.9696428571428571, 0.21214285714285713, 0.36214285714285716, 0.22285714285714286, 1.0], "mean": [0.06474920954297209, 0.02925409600459899, 0.05678787007760846, 0.0, -0.48088531187122735, -0.009927421672894529, 0.01149216728945099, -0.009447757976429952, 0.0006510491520551868, 0.0026904282839896494, 0.014471830985915512, 0.04225352112676056], "std": [0.21926925610908102, 0.1990256332789492, 0.14914467622046554, 0.0, 0.8767835062468599, 0.283103318385623, 0.18738701255002324, 0.2680410464714743, 0.021905540219419314, 0.048943304919144386, 0.052176519520377045, 0.9991069211813092], "count": [994]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016096578910946846], "std": [0.12584704160690308], "count": [994]}, "next.done": {"min": [false], "max": [true], "mean": [0.001006036217303823], "std": [0.031702115204403886], "count": [994]}, "timestamp": {"min": [0.0], "max": [49.65], "mean": [24.825], "std": [14.347146928919353], "count": [994]}, "frame_index": {"min": [0], "max": [993], "mean": [496.5], "std": [286.94293857838704], "count": [994]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [994]}, "index": {"min": [39420], "max": [40413], "mean": [39916.5], "std": [286.94293857838704], "count": [994]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5805820106573408]], [[0.47101148769128476]], [[0.41304295419276443]]], "std": [[[0.20336675225473344]], [[0.2231794094500766]], [[0.24420544487620308]]], "count": [232]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5641539000433148]], [[0.4866883149575833]], [[0.4409901289459497]]], "std": [[[0.2025154014727053]], [[0.2540499583898859]], [[0.2780714195531683]]], "count": [232]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5470978567292354]], [[0.4747383981721477]], [[0.4320673062399967]]], "std": [[[0.21825113511268227]], [[0.2574096965603629]], [[0.2773948012161362]]], "count": [232]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1426]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1426]}, "observation.state": {"min": [1.8483288029489853, -1.3942553291002768, 0.6999977912023541, 0.0, 0.0, -0.001957264030352235, 0.490935742855072, 0.06923748012537168, -0.09130319430167244, -0.004943373301484311, -0.9984928965568542, -0.5669218897819519, -0.31591469049453735, 1.7756257875589654e-05, 0.0013657572464394415, -0.04041515368739648], "max": [3.8280161145107314, -0.7489146299366899, 0.704587482811509, 0.0, 0.0, 0.8711958527565002, 1.0, 0.521338617458948, 0.24366429777090293, 0.6045752548035233, 0.996917724609375, 0.6087605357170105, 0.33471956849098206, 0.26351824402809143, 0.04000681464790442, -0.007396948502630393], "mean": [2.8947232916702976, -1.0103567062695589, 0.7017264901789597, 0.0, 0.0, 0.45201501605381994, 0.800569753911017, 0.27458253730744386, 0.038385563586266866, 0.3730112052152433, -0.510271080663796, 0.05624334188635353, -0.07777143183069032, 0.05304190710815191, 0.029114716815721798, -0.028968507805616085], "std": [0.7426040124003814, 0.256745269618072, 0.0015569496345879932, 0.0, 0.0, 0.3576328741961611, 0.16391836023534748, 0.10663580846405879, 0.0900469766541455, 0.13945015433876692, 0.7933130565990563, 0.27231335570006665, 0.1453704914294418, 0.054456608864989556, 0.011021011476229355, 0.011323025631101102], "count": [1426]}, "action": {"min": [-0.942857142857143, -1.0, -0.6142857142857143, 0.0, -1.0, -1.0, -0.6857142857142858, -0.6642857142857144, -0.24571428571428575, -0.27714285714285714, -0.4914285714285715, -1.0], "max": [0.9785714285714284, 1.0, 0.9457142857142856, 0.0, 1.0, 0.5071428571428571, 0.7285714285714285, 1.0, 0.18285714285714286, 0.24285714285714288, 0.4314285714285714, 1.0], "mean": [0.04677419354838709, 0.02549088359046283, 0.020839511120016037, 0.0, -0.4544179523141655, -0.016339410939691445, 0.003982167902224006, -0.008986175115207355, -0.0007433380084151487, -0.004013223802845122, -0.00030855539971949623, -0.04067321178120617], "std": [0.23820466372474244, 0.31449271003225715, 0.14355286182743301, 0.0, 0.8907885970389325, 0.2418680666011655, 0.11287412542760551, 0.24648842061686907, 0.03005128451406348, 0.05730519564422833, 0.09436192280465999, 0.9991725025456811], "count": [1426]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011220196262001991], "std": [0.1053294986486435], "count": [1426]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007012622720897616], "std": [0.02647207024989744], "count": [1426]}, "timestamp": {"min": [0.0], "max": [71.25], "mean": [35.625], "std": [20.582532035685016], "count": [1426]}, "frame_index": {"min": [0], "max": [1425], "mean": [712.5], "std": [411.65064071370034], "count": [1426]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1426]}, "index": {"min": [40414], "max": [41839], "mean": [41126.5], "std": [411.65064071370034], "count": [1426]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1426]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.601298028238821]], [[0.5569690674774407]], [[0.5047243607952016]]], "std": [[[0.20011535651788773]], [[0.19376544153581213]], [[0.19088858279089976]]], "count": [172]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6098689283239641]], [[0.5734010319811973]], [[0.5298990516645203]]], "std": [[[0.1718503295293609]], [[0.17015096813781325]], [[0.18133873704417355]]], "count": [172]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5862864399086761]], [[0.5502612644931361]], [[0.5059236400376376]]], "std": [[[0.19339012704393038]], [[0.18959937848651506]], [[0.19445545274316028]]], "count": [172]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [962]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [962]}, "observation.state": {"min": [2.740596217208013, -2.9784242531839222, 0.6999975534284353, 0.0, 0.0, -0.999940037727356, 0.002618443453684449, 0.017200281949751872, -0.15886335471994206, -0.011078242529875992, -0.9977442026138306, -0.22663459181785583, -0.16117292642593384, 0.0004706729087047279, 0.006610422578999684, -0.039971100625515406], "max": [4.6700500119663015, -1.3351719914686142, 0.7026861607471289, 0.0, 0.0, 0.999996542930603, 1.0, 0.41248206071464644, 0.44802254089513616, 0.6127023861639599, 0.9972176551818848, 0.2336028516292572, 0.2132156640291214, 0.18701162934303284, 0.0404824218857157, -0.005155693396003725], "mean": [3.6250641020002217, -2.143661910711866, 0.7006434186678155, 0.0, 0.0, -0.2790304023751635, 0.7760506649600853, 0.19320157133123744, 0.17778442182354462, 0.3410208892751848, -0.6508136316669211, 0.11314155574183206, 0.042584890724736285, 0.09124839744201944, 0.025941061509679772, -0.025469922170429347], "std": [0.8494813605529079, 0.6065864349504179, 0.0008145431532340074, 0.0, 0.0, 0.5192800423710214, 0.22413308412984745, 0.13559158654468853, 0.12785007992362818, 0.14609158812892117, 0.7269618190182099, 0.12518114270684488, 0.07116254966020595, 0.06552059193881686, 0.01133640986396146, 0.011737964398309186], "count": [962]}, "action": {"min": [-0.6482142857142857, -0.8357142857142857, -0.35571428571428576, 0.0, -1.0, -1.0, -1.0, -0.9696428571428571, -0.20785714285714288, -0.42428571428571427, -0.12642857142857145, -1.0], "max": [0.7285714285714285, 1.0, 0.5271428571428571, 0.0, 1.0, 0.675, 1.0, 0.8517857142857143, 0.12214285714285715, 0.19500000000000003, 0.09642857142857142, 1.0], "mean": [0.05637251262251268, -0.014571577071577014, 0.08704187704187716, 0.0, -0.28482328482328484, 0.0005624443124443126, 0.01317196317196316, -0.0030015592515592934, -0.0007907632907632895, 0.0025259875259875213, 0.0006615681615681628, 0.19126819126819128], "std": [0.1808655902840352, 0.27182095436459314, 0.18926244424574717, 0.0, 0.9585800417401148, 0.2409794066716905, 0.30535049816103943, 0.29549793926646134, 0.027675781850990677, 0.056458072137512, 0.02312197795208827, 0.9815378133363027], "count": [962]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016632016748189926], "std": [0.12788820266723633], "count": [962]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010395010395010396], "std": [0.032224532224532226], "count": [962]}, "timestamp": {"min": [0.0], "max": [48.05], "mean": [24.025], "std": [13.885266472055912], "count": [962]}, "frame_index": {"min": [0], "max": [961], "mean": [480.5], "std": [277.70532944111824], "count": [962]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [962]}, "index": {"min": [41840], "max": [42801], "mean": [42320.5], "std": [277.70532944111824], "count": [962]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [962]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4575916228068056]], [[0.43605393543771187]], [[0.42856581402891]]], "std": [[[0.26688946131256774]], [[0.2603072723500619]], [[0.2549558207388551]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5476503355065742]], [[0.5286004106837227]], [[0.50673563745578]]], "std": [[[0.2267242961132425]], [[0.21656237506701922]], [[0.20774951398414787]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6118462393216998]], [[0.5960420043341336]], [[0.5770047560222249]]], "std": [[[0.21731287823963075]], [[0.21710362761685564]], [[0.2177418746625543]]], "count": [214]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1288]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1288]}, "observation.state": {"min": [3.2115343382711923, -6.030134498349479, 0.6999990420408934, 0.0, 0.0, -1.0, 4.2052150206473016e-07, 0.22974211191134764, -0.25691281438626756, -0.03313683180528215, -0.9940130710601807, -0.5779362320899963, -0.5239614248275757, 4.942410305375233e-05, 0.005368352145998408, -0.04007271390020304], "max": [3.5002042384604297, -3.6268359324168813, 0.7087141638178981, 0.0, 0.0, 0.9999947547912598, 0.5633425712585449, 0.5918624607907983, 0.4057752627675706, 0.6479466094696702, 0.9617982506752014, 0.576896071434021, 0.3475661277770996, 0.2559703588485718, 0.04075106729193449, 0.001263836384369537], "mean": [3.2670404162645523, -5.017198813000745, 0.7045550207949739, 0.0, 0.0, -0.4874325452013786, 0.4027781863855604, 0.35749817887470536, -0.01852671690746217, 0.35007216738494634, -0.5884865851876158, 0.275380514307607, -0.08056453039153522, 0.07862297497932158, 0.03149231817744001, -0.02849486266636869], "std": [0.08265965734505612, 0.652868853497788, 0.002765742031242629, 0.0, 0.0, 0.7427899973427796, 0.22009604392793353, 0.07945995554996875, 0.17506651239473375, 0.1594199824084376, 0.6579830571373281, 0.32725248689142566, 0.14782674404771004, 0.057343298259072056, 0.012792601113694286, 0.014406052640769213], "count": [1288]}, "action": {"min": [-0.7928571428571429, -0.9910714285714286, -0.4714285714285714, 0.0, -1.0, -0.825, -0.6375000000000001, -0.8732142857142857, -0.11357142857142859, -0.32571428571428573, -0.3085714285714286, -1.0], "max": [0.567857142857143, 1.0, 0.43499999999999994, 0.0, 1.0, 0.6214285714285714, 0.7446428571428572, 1.0, 0.12214285714285715, 0.3707142857142857, 0.2357142857142857, 1.0], "mean": [0.014944265749778174, -0.045896184560780796, 0.0212971384205856, 0.0, -0.41459627329192544, 0.001443267524401062, -0.0033149401064773757, -0.005225432564330077, 0.0007070763087843857, 0.010122005323868673, -0.010537932564330103, -0.2468944099378882], "std": [0.16607411064920555, 0.26641932160524356, 0.14555056495850982, 0.0, 0.9100054561223541, 0.2165525643198488, 0.19026887212359572, 0.38154686489022543, 0.023843221328433004, 0.09758906103946206, 0.06218561915260427, 0.9690423883099349], "count": [1288]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011645962484180927], "std": [0.10728622227907181], "count": [1288]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007763975155279503], "std": [0.02785309179293804], "count": [1288]}, "timestamp": {"min": [0.0], "max": [64.35], "mean": [32.175000000000004], "std": [18.590673064738674], "count": [1288]}, "frame_index": {"min": [0], "max": [1287], "mean": [643.5], "std": [371.81346129477345], "count": [1288]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1288]}, "index": {"min": [42802], "max": [44089], "mean": [43445.5], "std": [371.81346129477345], "count": [1288]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1288]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47271381417353725]], [[0.4025094542516714]], [[0.35504306860887264]]], "std": [[[0.2679874595186503]], [[0.24243317946501605]], [[0.2502288640448194]]], "count": [168]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4069595287048739]], [[0.3420284869624119]], [[0.299507117249162]]], "std": [[[0.23784593789948333]], [[0.21202846998822586]], [[0.21447132460908902]]], "count": [168]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37509065978889927]], [[0.32834100910261566]], [[0.3002363060702797]]], "std": [[[0.25300216614426735]], [[0.22741989812880933]], [[0.22701448173094607]]], "count": [168]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [934]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [934]}, "observation.state": {"min": [1.10496715991366, -4.656848503667984, 0.6999986480845567, 0.0, 0.0, -8.893630365491845e-08, 0.6087514162063599, 0.16642488624896634, -0.5133273302970114, 0.05070133867666249, -0.9908982515335083, -0.6220309734344482, -0.4796489179134369, 0.0001936375192599371, 0.008487892340808253, -0.040076792041822414], "max": [1.730540142880866, -3.019094951625858, 0.7017077860860915, 0.0, 0.0, 0.7933610677719116, 1.0, 0.4797407813904506, 0.24013754382946884, 0.6027667439154495, 0.9748742580413818, 0.6300716400146484, 0.2388400137424469, 0.21437032520771027, 0.040404668524962335, -0.007928926172400345], "mean": [1.5830177014860398, -3.8923208304078614, 0.7010770827680848, 0.0, 0.0, 0.3891584190013347, 0.8614190601817545, 0.2960620301290854, -0.1620696764385506, 0.37800428940960656, -0.6888747758987884, 0.17702341510473532, -0.16285895991467592, 0.055472230781231806, 0.03351590348964531, -0.033133597898766534], "std": [0.1425573167435598, 0.5104713086451287, 0.0005924044152524309, 0.0, 0.0, 0.30020287229887405, 0.12802798964257148, 0.06437155021481203, 0.17226855703179947, 0.15012372122028972, 0.562651193059071, 0.3186678443613833, 0.21134391462579635, 0.041499800127417365, 0.011557009331136157, 0.011628710917576843], "count": [934]}, "action": {"min": [-1.0, -1.0, -0.8257142857142857, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.25142857142857145, -0.5914285714285714, -0.4914285714285715, -1.0], "max": [1.0, 1.0, 0.5714285714285714, 0.0, 1.0, 0.7642857142857143, 1.0, 1.0, 0.1742857142857143, 0.6228571428571429, 0.16, 1.0], "mean": [0.08309115937595594, -0.054718568369531956, 0.00226063016212911, 0.0, -0.42184154175588867, 0.012213215050474187, -0.03513306821657998, 0.0029749158764148277, -0.002731722239216886, 0.009718568369531966, -0.01199755276843073, -0.556745182012848], "std": [0.28720940232377573, 0.2986928186770113, 0.18582071656751453, 0.0, 0.906669572473357, 0.21362270856457127, 0.276276699763643, 0.34151115119417685, 0.043274525156284445, 0.0946600482676209, 0.08128641449171127, 0.8306833345538412], "count": [934]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016059957444667816], "std": [0.12570613622665405], "count": [934]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010706638115631692], "std": [0.0327034782640284], "count": [934]}, "timestamp": {"min": [0.0], "max": [46.65], "mean": [23.325], "std": [13.48112105872505], "count": [934]}, "frame_index": {"min": [0], "max": [933], "mean": [466.5], "std": [269.62242117450097], "count": [934]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [934]}, "index": {"min": [44090], "max": [45023], "mean": [44556.5], "std": [269.62242117450097], "count": [934]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [934]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5799176543251247]], [[0.5425835041756262]], [[0.49333767767421155]]], "std": [[[0.2008814562167569]], [[0.18789051193321868]], [[0.1744986607732418]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.610442311479231]], [[0.5641991841767089]], [[0.4817096079501076]]], "std": [[[0.19457227299095714]], [[0.16202188585661267]], [[0.1625223268222422]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5957896361654591]], [[0.552774168267085]], [[0.4788133025140515]]], "std": [[[0.2076432686361032]], [[0.17666477278104042]], [[0.17272933182769046]]], "count": [162]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [885]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [885]}, "observation.state": {"min": [3.4725069276760077, -3.5389184890871865, 0.6999949260750664, 0.0, 0.0, -0.5616030693054199, 0.8274068236351013, -0.00148528849451246, -0.2557379313330581, 0.004437808662948184, -0.997994601726532, -0.444739431142807, -0.2577511668205261, 3.059766459045932e-05, 0.010628479497328359, -0.040248916175507944], "max": [3.7965830782670262, -1.3757813069865439, 0.7065656308163658, 0.0, 0.0, 0.33192476630210876, 1.0, 0.4865347088667784, 0.011114698805759105, 0.6047529246970164, 0.9834073781967163, 0.8015795946121216, 0.2944917380809784, 0.23058119416236877, 0.040504400183782714, -0.007179834847223739], "mean": [3.6674170434601097, -2.517310089023437, 0.7039028100433738, 0.0, 0.0, -0.22897859330154727, 0.9270223909178696, 0.2120163205035784, -0.07863345098463609, 0.36252671198591574, -0.5544183878575342, 0.2281196489256654, -0.03212284414073989, 0.07481879022131585, 0.030651646762908644, -0.029562900940308116], "std": [0.10774532853124054, 1.0087558660743652, 0.002352651760340296, 0.0, 0.0, 0.28577480980141134, 0.08081496339255685, 0.13171311053634027, 0.07942840264105697, 0.15920722447711683, 0.7316864945155329, 0.2620251489499481, 0.1551344041217679, 0.076569954801518, 0.012360460014485779, 0.013017017872364022], "count": [885]}, "action": {"min": [-1.0, -0.7214285714285715, -0.5971428571428572, 0.0, -1.0, -1.0, -1.0, -0.7642857142857143, -0.20285714285714287, -0.3342857142857143, -0.5285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.6428571428571428, 0.7428571428571429, 1.0, 0.24, 0.25142857142857145, 0.58, 1.0], "mean": [0.027046004842615004, 0.08337368845843422, -0.00690234059725587, 0.0, -0.5502824858757062, -0.017175141242937866, -0.009039548022598869, -0.029790153349475303, -0.0016561743341404352, -0.004171105730427764, -0.0003648103309120285, -0.20451977401129945], "std": [0.21551739611381407, 0.2798692859793739, 0.21730186138245233, 0.0, 0.8349785540589997, 0.31507414330607764, 0.23093593863282227, 0.33438355564058936, 0.03854252752752328, 0.06449919363350454, 0.08841933212577252, 0.9788624326422842], "count": [885]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019209040328860283], "std": [0.13725906610488892], "count": [885]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011299435028248588], "std": [0.033595635587160465], "count": [885]}, "timestamp": {"min": [0.0], "max": [44.2], "mean": [22.1], "std": [12.773866551153047], "count": [885]}, "frame_index": {"min": [0], "max": [884], "mean": [442.0], "std": [255.47733102306097], "count": [885]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [885]}, "index": {"min": [45024], "max": [45908], "mean": [45466.0], "std": [255.47733102306097], "count": [885]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [885]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6228067161211001]], [[0.5925620420083724]], [[0.5622988212008436]]], "std": [[[0.22706135995932628]], [[0.2211948635846396]], [[0.22218067049804818]]], "count": [168]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5634843375725127]], [[0.5512974882437514]], [[0.5355724722953961]]], "std": [[[0.20963422945761978]], [[0.20826918889986312]], [[0.2062017905961465]]], "count": [168]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5578794986927876]], [[0.5415183005880575]], [[0.5231443720371449]]], "std": [[[0.2016475435605566]], [[0.1977538984053866]], [[0.19569942607603338]]], "count": [168]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [929]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [929]}, "observation.state": {"min": [-2.270225393775637, -1.2235100169020647, 0.6999979064044034, 0.0, 0.0, 0.15727171301841736, 0.7070837616920471, 0.07290175517996511, -0.531296838794546, 0.0011938067552338394, -0.9896038770675659, -0.7384864091873169, -0.4037909507751465, 0.0005895455251447856, 0.0008770063929372612, -0.040016050125829976], "max": [-1.9048907020734502, -0.7217740477127988, 0.7110310693730507, 0.0, 0.0, 0.7071297764778137, 0.9875554442405701, 0.848434948933932, 0.1987764625587741, 0.6023245890297528, 0.99146568775177, 0.8586382269859314, 0.15900428593158722, 0.24431900680065155, 0.04114789145986148, -0.0006363772631400633], "mean": [-2.137318338485491, -0.761021757775016, 0.7058373814094865, 0.0, 0.0, 0.21407287637627934, 0.9633423021329873, 0.44000606473868736, -0.09833846474821242, 0.33503364905684957, -0.32866625242392394, 0.29741066188999604, -0.03271210553302867, 0.06250801788380096, 0.033390858352572286, -0.03142468192356723], "std": [0.06043422749016112, 0.10445913215050275, 0.0036270490981958423, 0.0, 0.0, 0.1459938751797905, 0.06949963213237823, 0.23350510926461707, 0.20622602606180496, 0.14070702852455372, 0.8045334673448652, 0.3696036153086464, 0.10971571550277444, 0.05127952263992797, 0.011223537477256448, 0.012858656403749004], "count": [929]}, "action": {"min": [-0.8142857142857143, -0.35714285714285715, -0.5314285714285715, 0.0, -1.0, -1.0, -1.0, -1.0, -0.14, -0.7428571428571429, -0.4628571428571429, -1.0], "max": [0.9357142857142857, 0.9642857142857144, 0.0, 0.0, 1.0, 0.7714285714285714, 0.6214285714285714, 1.0, 0.18, 0.21714285714285717, 0.40857142857142864, 1.0], "mean": [0.0344148854374904, 0.025419037367368894, -0.03122558819006613, 0.0, -0.7115177610333692, 0.03200061510072277, -0.014178071659234143, -0.05100722743349227, 0.005040750422881743, -0.015242195909580198, 0.002128248500691967, -0.42303552206673845], "std": [0.18094884519655782, 0.1447273120612983, 0.096223787362279, 0.0, 0.7026681120799894, 0.3637639282746159, 0.2725512152733355, 0.3907527218171135, 0.03446125719670234, 0.09474294361006563, 0.08153782894962153, 0.9061130983876753], "count": [929]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017222819849848747], "std": [0.13010071218013763], "count": [929]}, "next.done": {"min": [false], "max": [true], "mean": [0.001076426264800861], "std": [0.03279127279166376], "count": [929]}, "timestamp": {"min": [0.0], "max": [46.4], "mean": [23.2], "std": [13.408952233489387], "count": [929]}, "frame_index": {"min": [0], "max": [928], "mean": [464.0], "std": [268.17904466978774], "count": [929]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [929]}, "index": {"min": [45909], "max": [46837], "mean": [46373.0], "std": [268.17904466978774], "count": [929]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [929]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6337442394671381]], [[0.5533831336281516]], [[0.5070808023054969]]], "std": [[[0.225878713718168]], [[0.24255197066505732]], [[0.24015836556903555]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5499893956855869]], [[0.5235495103234276]], [[0.4915635773629853]]], "std": [[[0.21463286292518705]], [[0.20194048705192785]], [[0.19174875403628105]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6364711611878638]], [[0.601252429710565]], [[0.5615293261414118]]], "std": [[[0.2004555123377892]], [[0.19554512698897175]], [[0.19155591463163524]]], "count": [176]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [989]}, "observation.state": {"min": [2.840970077052543, -1.051165187488267, 0.6999936685097871, 0.0, 0.0, 0.6694043278694153, 0.7071054577827454, -0.1371473402491432, -0.691235031267774, 0.014508861096304004, -0.998848557472229, -0.4575958847999573, -0.3826260268688202, 3.0181527108652517e-05, 0.0060990553436434366, -0.04051525628538466], "max": [3.835895003532494, -0.7782691558488094, 0.702824794739748, 0.0, 0.0, 0.7071080207824707, 0.742898166179657, 0.3892082429841519, -0.006545923280720789, 0.5995402174465525, 0.998975396156311, 0.47966501116752625, 0.47989317774772644, 0.2579977512359619, 0.040050176657965994, -0.009402933923158698], "mean": [2.8731328948507424, -0.7958851725990789, 0.70144921182024, 0.0, 0.0, 0.6846164062363072, 0.728885019150976, 0.17611984864521793, -0.42089529213871374, 0.3052798332327323, -0.01925700438878413, -0.012384179990862932, 0.037355448865654, 0.059367838181678484, 0.031934632385338585, -0.03189325871543328], "std": [0.1527236540025002, 0.06256795229379275, 0.0008973348919482823, 0.0, 0.0, 0.003770819183259983, 0.0035754374145311515, 0.15622888129555687, 0.1936599631131714, 0.13952531283972658, 0.9548301645659067, 0.23153847172198289, 0.16216761308749594, 0.054284296157214335, 0.011007457457184715, 0.011201357773012044], "count": [989]}, "action": {"min": [-0.47678571428571426, 0.0, -0.11357142857142859, 0.0, -1.0, -0.825, -0.7392857142857142, -0.5196428571428572, -0.24642857142857144, -0.35571428571428576, -0.2292857142857143, -1.0], "max": [0.6053571428571428, 0.9, 0.09, 0.0, 1.0, 0.675, 0.7125, 0.8303571428571429, 0.22071428571428572, 0.24000000000000002, 0.36, 1.0], "mean": [0.006900910010111224, 0.03460746786075401, -0.0017593528816986861, 0.0, -0.8240647118301314, -0.001370431893687717, -0.020697313303481162, -0.03016033511483463, 0.0020388559872887495, 0.006218402426693645, 0.0007713419037989356, -0.33872598584428715], "std": [0.09023594892504415, 0.1497860484714635, 0.017347916260414355, 0.0, 0.5664956758143245, 0.22652328134254826, 0.25802250576001595, 0.2251869640977785, 0.05925387554127837, 0.0784137893670777, 0.08292449672931441, 0.9408850655174735], "count": [989]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017189079895615578], "std": [0.12997543811798096], "count": [989]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010111223458038423], "std": [0.03178207006168192], "count": [989]}, "timestamp": {"min": [0.0], "max": [49.4], "mean": [24.699999999999996], "std": [14.274978108564651], "count": [989]}, "frame_index": {"min": [0], "max": [988], "mean": [494.0], "std": [285.499562171293], "count": [989]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [989]}, "index": {"min": [46838], "max": [47826], "mean": [47332.0], "std": [285.499562171293], "count": [989]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.528336449631122]], [[0.43643748050978204]], [[0.39713538760230654]]], "std": [[[0.21361458123355606]], [[0.25021463488846424]], [[0.2716158620465564]]], "count": [140]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06274509803921569]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5504770034234397]], [[0.440877092719412]], [[0.38312139687417934]]], "std": [[[0.22376653240462363]], [[0.27664958766924236]], [[0.2955136745822583]]], "count": [140]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.06666666666666667]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.546708575336873]], [[0.44064598788734244]], [[0.38533365287032784]]], "std": [[[0.22430580408806913]], [[0.2767790360986414]], [[0.296306375318778]]], "count": [140]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [731]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [731]}, "observation.state": {"min": [1.194191737327798, -5.709516728666271, 0.6999897477492469, 0.0, 0.0, -0.7071087956428528, 0.7071046829223633, 0.027482157573659904, -0.4023237092519546, 0.030842320606496387, -0.99973064661026, -0.731817364692688, -0.3025422990322113, 0.00025633440236561, 0.016726701402606764, -0.04133451031842119], "max": [1.4908826096624153, -5.108596942403276, 0.7030029540053953, 0.0, 0.0, -0.6371944546699524, 0.7707030773162842, 0.6324092821226435, 0.013462520642031128, 0.6228877768070321, 0.9993265867233276, 0.7315533757209778, 0.37181994318962097, 0.2642821967601776, 0.04000235059363322, -0.01646034976407033], "mean": [1.3187714254206357, -5.383921928439154, 0.7008878865613888, 0.0, 0.0, -0.693451163706799, 0.7201276547931613, 0.2913591534138944, -0.11289860136012392, 0.30774449442525664, -0.3692296683054453, 0.1255952428628865, -0.03800372040663574, 0.04235188788773394, 0.029830890986226183, -0.030394280921617375], "std": [0.14497404330549576, 0.26985397670468747, 0.0010609937396697845, 0.0, 0.0, 0.016947392641154278, 0.01595035181136379, 0.1425075751203724, 0.13317881054114725, 0.15105109571530403, 0.8569127954020591, 0.3053273637206468, 0.12405528502777774, 0.04175247709098603, 0.009180308609906372, 0.009200391334153547], "count": [731]}, "action": {"min": [-1.0, -0.2142857142857143, -0.2, 0.0, -1.0, -1.0, -1.0, -0.7000000000000001, -0.22285714285714286, -0.5485714285714286, -0.44, -1.0], "max": [1.0, 1.0, 0.32285714285714284, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.1742857142857143, 0.4285714285714286, 0.3171428571428571, 1.0], "mean": [0.02958764901309362, 0.008823529411764707, 0.004060973226499902, 0.0, -0.8276333789329685, -0.018555794410787592, -0.026812585499316033, 0.011549736173539132, -0.0036232167285518866, -0.00019151846785225515, 0.004166503810826662, 0.06976744186046512], "std": [0.23114017366419137, 0.09354181871315527, 0.04576851228379575, 0.0, 0.561269088829946, 0.4846442763266646, 0.2992174664660762, 0.44406389557421794, 0.04784853860884485, 0.1078060364463489, 0.10541557221168205, 0.9975632832338204], "count": [731]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021887825801968575], "std": [0.1463172733783722], "count": [731]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013679890560875513], "std": [0.03696102896335512], "count": [731]}, "timestamp": {"min": [0.0], "max": [36.5], "mean": [18.25], "std": [10.551066296825171], "count": [731]}, "frame_index": {"min": [0], "max": [730], "mean": [365.0], "std": [211.0213259365034], "count": [731]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [731]}, "index": {"min": [47827], "max": [48557], "mean": [48192.0], "std": [211.0213259365034], "count": [731]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [731]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5744379990442343]], [[0.560422657242287]], [[0.5453913043836636]]], "std": [[[0.2413537314353856]], [[0.2171324662132326]], [[0.23860351647547745]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5513147322175843]], [[0.5324556844820528]], [[0.5159386403373953]]], "std": [[[0.2096559605401955]], [[0.209619651779235]], [[0.21826774634987509]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5962527616010705]], [[0.5734460010139714]], [[0.5546155076818858]]], "std": [[[0.2282107489923384]], [[0.23349236115016883]], [[0.24682193186619752]]], "count": [151]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [805]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [805]}, "observation.state": {"min": [1.3308308413084762, -1.1239760093913445, 0.6999995514191167, 0.0, 0.0, 0.7071068286895752, 0.19162558019161224, -0.07362247037096004, -0.5426686894499635, -0.008946716361605711, -0.996725857257843, -0.8001720309257507, -0.5085241794586182, 6.871394725749269e-05, 0.011634993156181044, -0.04061991563477617], "max": [1.572585181993947, -0.9325563902766343, 0.70360545906002, 0.0, 0.0, 0.981468141078949, 0.7071066498756409, 0.7143837894981822, 0.2929317448557591, 0.6066880255058429, 0.9248541593551636, 0.8149586915969849, 0.44639256596565247, 0.29953375458717346, 0.040210697044253965, -0.006163381679412177], "mean": [1.5594739932467736, -0.9443907847876426, 0.7023256157885233, 0.0, 0.0, 0.9692684406079121, 0.21993584336701388, 0.3060977879087151, -0.0750597979069956, 0.3300805053581794, -0.4315857026147546, 0.1831934463348448, -0.01099147277536024, 0.06264904597881706, 0.0314081723129004, -0.030948952520155157], "std": [0.031299735388016454, 0.03955849732127001, 0.0012757399776123536, 0.0, 0.0, 0.046811419376797996, 0.09977780037202032, 0.15055831004685466, 0.218436116169009, 0.16909828800067206, 0.6913659400040076, 0.5256348225294389, 0.13573316025640614, 0.058531256705385934, 0.01138592971069803, 0.01141085887167699], "count": [805]}, "action": {"min": [-0.4928571428571429, -0.7339285714285714, 0.0, 0.0, -1.0, -1.0, -0.9267857142857143, -0.6857142857142857, -0.1392857142857143, -0.27, -0.3942857142857143, -1.0], "max": [0.0, 0.0, 0.4628571428571428, 0.0, 1.0, 0.7714285714285715, 1.0, 1.0, 0.21857142857142856, 0.2314285714285714, 0.2014285714285714, 1.0], "mean": [-0.012411268855368243, -0.04207852706299911, 0.030175687666370896, 0.0, -0.7639751552795031, -0.05512200532386866, -0.015188553682342468, -0.028551464063886502, -0.00397160603371784, 0.005944099378882007, -0.017973380656610503, -0.3167701863354037], "std": [0.0627870519396012, 0.1354509300197293, 0.09495146667544173, 0.0, 0.6452456602842555, 0.36233576123350314, 0.3427633686231201, 0.34665537277225555, 0.03812584262340819, 0.07499725633873332, 0.06980712287146673, 0.9485023189476344], "count": [805]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019875776022672653], "std": [0.13957339525222778], "count": [805]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012422360248447205], "std": [0.03522347050623062], "count": [805]}, "timestamp": {"min": [0.0], "max": [40.2], "mean": [20.1], "std": [11.619165202371468], "count": [805]}, "frame_index": {"min": [0], "max": [804], "mean": [402.0], "std": [232.38330404742936], "count": [805]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [805]}, "index": {"min": [48558], "max": [49362], "mean": [48960.0], "std": [232.38330404742936], "count": [805]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [805]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5742062206348895]], [[0.47104594474778433]], [[0.4126592745825886]]], "std": [[[0.24187781336262898]], [[0.24897399778246893]], [[0.2751137787367234]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5878069649821255]], [[0.504290534114414]], [[0.4510155563015628]]], "std": [[[0.17887435261527715]], [[0.20824487950477127]], [[0.2378138910697606]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6159953920209205]], [[0.5391399857540996]], [[0.4894061703785774]]], "std": [[[0.1818214929196974]], [[0.21748120005636537]], [[0.25093601629566076]]], "count": [181]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1025]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1025]}, "observation.state": {"min": [0.7659972744776852, -4.9493283309648675, 0.6999978840528218, 0.0, 0.0, -1.0, 9.796740130241233e-08, 0.09799855167949267, -0.5516739886050961, 0.05520360947066405, -0.9948141574859619, -0.9251527786254883, -0.18097427487373352, 0.00020716269500553608, 0.0014802849201668246, -0.040056997805617306], "max": [1.2050142315869876, -1.1417021384704669, 0.7025672820437217, 0.0, 0.0, 1.0, 0.5469450354576111, 0.5698553140732496, 0.25127630385831257, 0.5786084803183946, 0.7771931886672974, 0.929409384727478, 0.1425052285194397, 0.2445017546415329, 0.04053804826299642, -0.0010675110301923195], "mean": [0.951008306399048, -3.2613371853282396, 0.7009422409398607, 0.0, 0.0, -0.7630569872042028, 0.2721160780494728, 0.27002402091729927, -0.125602641280179, 0.33664986145031184, -0.5802799845614084, 0.10178570407919768, -0.020232712575972717, 0.06172675922572635, 0.02964059287194819, -0.028787487566394526], "std": [0.11846679189268129, 1.1683422622116362, 0.0009578754801123642, 0.0, 0.0, 0.5307202754127326, 0.24906399007318689, 0.12503606716144286, 0.19749001515253775, 0.1345562482021884, 0.5967354309838695, 0.5309905102762298, 0.09479039441867623, 0.04081585163008507, 0.01346190228491884, 0.014121412517511363], "count": [1025]}, "action": {"min": [-0.6910714285714286, -0.9053571428571429, -0.6149999999999999, 0.0, -1.0, -0.7607142857142858, -1.0, -0.8839285714285714, -0.22071428571428572, -0.18857142857142858, -0.3535714285714286, -1.0], "max": [0.6107142857142858, 1.0, 0.43071428571428577, 0.0, 1.0, 0.6482142857142857, 0.9267857142857143, 0.8142857142857143, 0.17571428571428574, 0.20357142857142857, 0.5635714285714286, 1.0], "mean": [0.02047735191637631, -0.042634146341463466, 0.003595818815331019, 0.0, -0.2546341463414634, 2.0905923344960496e-05, -0.00010104529616724144, -0.01278397212543551, 0.0008529616724738688, 0.004505226480836243, 0.0012062717770034803, -0.27219512195121953], "std": [0.1947400594417464, 0.39753274052551424, 0.1403963241228784, 0.0, 0.967037461279013, 0.24228030142977225, 0.27620391656895227, 0.24628770072836914, 0.03552975578975812, 0.039930989468347666, 0.11312104222739425, 0.9622420774347611], "count": [1025]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015609756112098694], "std": [0.12396004050970078], "count": [1025]}, "next.done": {"min": [false], "max": [true], "mean": [0.000975609756097561], "std": [0.031219512195121948], "count": [1025]}, "timestamp": {"min": [0.0], "max": [51.2], "mean": [25.599999999999998], "std": [14.794593607125543], "count": [1025]}, "frame_index": {"min": [0], "max": [1024], "mean": [512.0], "std": [295.89187214251086], "count": [1025]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1025]}, "index": {"min": [49363], "max": [50387], "mean": [49875.0], "std": [295.89187214251086], "count": [1025]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1025]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5345557825210103]], [[0.4765750506540916]], [[0.4351137210299071]]], "std": [[[0.1794395994205872]], [[0.18615463711512764]], [[0.19536672337218153]]], "count": [167]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5003975572952212]], [[0.4726985041434823]], [[0.4486536169102512]]], "std": [[[0.24447152337898223]], [[0.2525645100274384]], [[0.2598587522597462]]], "count": [167]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40039812343087267]], [[0.38452723459331334]], [[0.37048165989941073]]], "std": [[[0.26070109493041793]], [[0.2603120137415279]], [[0.26070848295684196]]], "count": [167]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [921]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [921]}, "observation.state": {"min": [2.5476887044178387, -1.0721988648242053, 0.6999985150366216, 0.0, 0.0, 0.6907215714454651, 0.7071623802185059, -0.1962165942316645, -0.0031223949407199747, 0.009322050223614653, -0.9970744252204895, -0.35768353939056396, -0.13136261701583862, 1.9807946955552325e-05, 0.016281831020652716, -0.040118786870523976], "max": [2.8373579343495616, -0.9255554981158349, 0.7020369168331353, 0.0, 0.0, 0.7070512175559998, 0.7231207489967346, 0.3806300383813479, 0.6320630209068057, 0.600384414291094, 0.9960511326789856, 0.33500978350639343, 0.17785553634166718, 0.17792628705501556, 0.04063332024021609, -0.0016637495452018838], "mean": [2.777949155594187, -0.9315808541271492, 0.7008229785221584, 0.0, 0.0, 0.7014608215560871, 0.712704498462387, 0.16185380004932937, 0.27850460176833053, 0.32780064229361, -0.6456396122838206, 0.022322216798247006, 0.02145511803242386, 0.04295970923888329, 0.03428619084767821, -0.03081744624084029], "std": [0.02292015002377363, 0.025036295163869602, 0.0006534515125528164, 0.0, 0.0, 0.001606010445448005, 0.001562512832920169, 0.16397909041954722, 0.21543841310509249, 0.14433251745357112, 0.7302066152661923, 0.18800310086875072, 0.10055234763281533, 0.04108174014083788, 0.008166620641167858, 0.01148892851856855], "count": [921]}, "action": {"min": [-0.016071428571428573, -0.9910714285714286, -0.1157142857142857, 0.0, -1.0, -0.6803571428571429, -0.6964285714285715, -0.5196428571428572, -0.135, -0.07285714285714286, -0.165, -1.0], "max": [0.45535714285714285, 0.4125, 0.07714285714285715, 0.0, 1.0, 0.5571428571428572, 0.9696428571428571, 0.8785714285714287, 0.075, 0.08785714285714287, 0.3, 1.0], "mean": [0.01718241042345277, -0.004496277338296882, -0.00014192647743136374, 0.0, -0.8523344191096635, -0.006497208003722643, 0.004763843648208592, -0.01611214518380644, -0.002249883666821777, 0.0030502559329920855, -0.006053978594695214, -0.2703583061889251], "std": [0.07462918322002136, 0.09588613154221867, 0.013586597256353982, 0.0, 0.5229971682533132, 0.23040876254674392, 0.29438637381394034, 0.2535441224014588, 0.027411940057348875, 0.02359889400119889, 0.05823634653769898, 0.9627597759953685], "count": [921]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01737242192029953], "std": [0.13065457344055176], "count": [921]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010857763300760044], "std": [0.032933226684262976], "count": [921]}, "timestamp": {"min": [0.0], "max": [46.0], "mean": [23.0], "std": [13.293482112173118], "count": [921]}, "frame_index": {"min": [0], "max": [920], "mean": [460.0], "std": [265.86964224346235], "count": [921]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [921]}, "index": {"min": [50388], "max": [51308], "mean": [50848.0], "std": [265.86964224346235], "count": [921]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [921]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5237801376422305]], [[0.4890439705506659]], [[0.4627577110625698]]], "std": [[[0.2346842370191027]], [[0.23559307151456038]], [[0.23479425898697187]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.602222208007449]], [[0.5898161417794718]], [[0.5733949639951659]]], "std": [[[0.1953205406811542]], [[0.19670548988668607]], [[0.1960207461417507]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6074483379592195]], [[0.5934621909854725]], [[0.5755896592205291]]], "std": [[[0.19862363756083276]], [[0.1992425931349031]], [[0.1976839008045641]]], "count": [158]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [859]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [859]}, "observation.state": {"min": [2.9576512358464986, -1.9270841978063655, 0.6999966508460718, 0.0, 0.0, 0.7003614902496338, 8.099249680526555e-05, 0.007162202508988802, -0.19492243836976364, 0.00638618518014844, -0.9996426105499268, -0.7843752503395081, -0.2457123100757599, 0.0002939722326118499, 0.0015146518450546737, -0.04091131276605574], "max": [4.189436729468264, -0.756442593769792, 0.7034224682618695, 0.0, 0.0, 1.0, 0.7137883305549622, 0.48879247615920196, 0.1510164943395358, 0.5853977290494533, 0.9941034317016602, 0.7816057801246643, 0.23305752873420715, 0.11955679208040237, 0.04001060944845966, -0.007475409588300438], "mean": [3.7007172979075964, -1.1823990805122064, 0.7016604588891555, 0.0, 0.0, 0.8477440880258091, 0.37782854944018046, 0.24971202916743224, -0.011968188117910753, 0.31742477951340314, -0.2358994504764277, -0.054239209242624785, 0.0043465806949817025, 0.04208834333783986, 0.02702241338452704, -0.027953710596764603], "std": [0.4920624418947983, 0.3981270365871849, 0.0010647816252222528, 0.0, 0.0, 0.1447659036878112, 0.34295541117433725, 0.1285631643094487, 0.08771999876458839, 0.1558025936417862, 0.8258252129729521, 0.4949592651978802, 0.10989590019397495, 0.023878091947810133, 0.013540604581829565, 0.013221117630075888], "count": [859]}, "action": {"min": [-1.0, -0.9375, -0.6042857142857142, 0.0, -1.0, -1.0, -0.8624999999999999, -0.7339285714285714, -0.11785714285714285, -0.3064285714285715, -0.3707142857142857, -1.0], "max": [0.6589285714285714, 0.1875, 0.0, 0.0, 1.0, 0.8303571428571429, 0.7285714285714285, 1.0, 0.09428571428571429, 0.16071428571428573, 0.3707142857142857, 1.0], "mean": [0.004018376850157988, -0.03652087144520208, -0.0357899550972892, 0.0, -0.6414435389988359, -0.01467445534674871, 0.011886745384999169, -0.016470563778479965, -0.0007907866289705629, -0.002871278895725928, 0.007561117578579721, -0.08498253783469151], "std": [0.18138146578987527, 0.14486665533403087, 0.11327745560555923, 0.0, 0.76717024595369, 0.34657055792905134, 0.19496694848188686, 0.31421899027997857, 0.02064335715898792, 0.062384780891380616, 0.10606863915472987, 0.9963824407641773], "count": [859]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01862630993127823], "std": [0.13520123064517975], "count": [859]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011641443538998836], "std": [0.03409969386700072], "count": [859]}, "timestamp": {"min": [0.0], "max": [42.9], "mean": [21.45], "std": [12.398588629356166], "count": [859]}, "frame_index": {"min": [0], "max": [858], "mean": [429.0], "std": [247.9717725871233], "count": [859]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [859]}, "index": {"min": [51309], "max": [52167], "mean": [51738.0], "std": [247.9717725871233], "count": [859]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [859]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5375003382169783]], [[0.5329930649389087]], [[0.5319570370647303]]], "std": [[[0.257824892221848]], [[0.22582680658946952]], [[0.2528631469865945]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.03529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545245687512384]], [[0.514164734537136]], [[0.48979732028866874]]], "std": [[[0.2131915980157335]], [[0.21767364116862953]], [[0.22298061023093696]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5580303032786442]], [[0.5289703645567962]], [[0.50600101083949]]], "std": [[[0.24116004981351827]], [[0.24600935069297145]], [[0.2534965910425802]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1047]}, "observation.state": {"min": [1.146752463076735, -1.0160980888196707, 0.6999936261740848, 0.0, 0.0, 0.7070966958999634, 0.24118991196155548, 0.04785364876927023, -0.49095090734914026, 0.03887531751283768, -0.9942900538444519, -0.6886507868766785, -0.3274975121021271, 6.802319694543257e-05, -0.0018488008702561383, -0.04166791611364328], "max": [1.5050477141622027, -0.8462838772933379, 0.7138763916729964, 0.0, 0.0, 0.9704778790473938, 0.7071168422698975, 0.7046471317798886, 0.38354686796278586, 0.6065369945509982, 0.9887305498123169, 0.9094427824020386, 0.32766059041023254, 0.24521054327487946, 0.04001776667392175, -0.01105127464951216], "mean": [1.3751135884349173, -0.9019374267239306, 0.7078935340402337, 0.0, 0.0, 0.9474809903014583, 0.29086587322589436, 0.31088976802920476, -0.06829662805124648, 0.35565879255640914, 0.2979650153016179, 0.11719369136131481, 0.08598397200791598, 0.04598249260378774, 0.03177397636803889, -0.03302997897562745], "std": [0.05264561770410503, 0.030905668785581805, 0.005217610071956483, 0.0, 0.0, 0.06119480614108156, 0.11803395739530209, 0.16132264242622893, 0.22608107225391397, 0.14752137840839638, 0.8513126203136374, 0.3661084479714367, 0.16317389906730773, 0.05079923633562216, 0.01200420070201257, 0.010900537257032624], "count": [1047]}, "action": {"min": [-0.2642857142857143, -1.0, -0.07142857142857142, 0.0, -1.0, -0.942857142857143, -0.9714285714285714, -1.0, -0.31142857142857144, -0.47714285714285715, -0.7142857142857143, -1.0], "max": [0.8642857142857142, 0.5142857142857143, 0.36857142857142855, 0.0, 1.0, 0.6714285714285714, 1.0, 1.0, 0.2914285714285714, 0.32857142857142857, 0.30285714285714294, 1.0], "mean": [0.04563378359939964, -0.022294992495565553, 0.026107245190339745, 0.0, -0.7382999044890163, -0.008780188293082263, -0.01633920043662159, -0.022192659298676476, -0.010306999590667209, -0.0018610997407559025, -0.0028871605948969773, -0.4059216809933142], "std": [0.15539326494407502, 0.12671750408004057, 0.08109258178763401, 0.0, 0.674472572482761, 0.25144951258719095, 0.2859870837538493, 0.33686939078560985, 0.05203772454172037, 0.08672518699270473, 0.1451254730068995, 0.9139078667456272], "count": [1047]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015281757339835167], "std": [0.1226712167263031], "count": [1047]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009551098376313276], "std": [0.030890089071243992], "count": [1047]}, "timestamp": {"min": [0.0], "max": [52.3], "mean": [26.15], "std": [15.112136403125358], "count": [1047]}, "frame_index": {"min": [0], "max": [1046], "mean": [523.0], "std": [302.2427280625072], "count": [1047]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1047]}, "index": {"min": [52168], "max": [53214], "mean": [52691.0], "std": [302.2427280625072], "count": [1047]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4491525195757667]], [[0.41021231170955397]], [[0.37711466273163324]]], "std": [[[0.2157500302624956]], [[0.15364281711758834]], [[0.1995610403534411]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5343144561283535]], [[0.5090243641946354]], [[0.47397728075885265]]], "std": [[[0.2668623447945345]], [[0.2605281104392916]], [[0.2595526559523459]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.575101335358051]], [[0.5244295579746627]], [[0.46842152231177603]]], "std": [[[0.2517715023195783]], [[0.25654626825232324]], [[0.25969769894290773]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [852]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [852]}, "observation.state": {"min": [1.1930583251283624, -1.0341140079405322, 0.6999930810756267, 0.0, 0.0, 0.019653694704174995, 0.7071064710617065, 0.09203988928543749, -0.2519684225330441, 0.00926680410107994, -0.9999668002128601, -0.5550401210784912, -0.20724067091941833, 9.891335503198206e-05, 0.007598291798733263, -0.04042312595573062], "max": [1.641416108391045, -0.8543481356074571, 0.7023494698222513, 0.0, 0.0, 0.7071070075035095, 0.999806821346283, 0.42981640636322205, 0.43695040128721946, 0.6031624008070394, 0.9998421669006348, 0.7032806277275085, 0.3952493369579315, 0.2313460409641266, 0.04006322533734012, -0.015482600313966774], "mean": [1.3980002434705834, -0.8748632691580698, 0.7009478764136674, 0.0, 0.0, 0.1919006616699164, 0.9566156214951349, 0.23537688773987184, 0.16429909996648231, 0.3655189227493729, 0.25866032255367494, 0.2705809700001084, 0.06313975817740565, 0.07314548445026556, 0.033518499292012435, -0.03358573713472862], "std": [0.06851285454214545, 0.028928281783955935, 0.000990638544992098, 0.0, 0.0, 0.20971331221400827, 0.06388293203721457, 0.08536948787765501, 0.18729893235231876, 0.14337861855485567, 0.832914717788918, 0.3622933166358647, 0.14178100707978183, 0.07374726792437583, 0.009653988971048104, 0.009945853874034799], "count": [852]}, "action": {"min": [-0.8571428571428572, -0.5285714285714286, -0.7485714285714286, 0.0, -1.0, -1.0, -0.9214285714285714, -0.8428571428571429, -0.14, -0.30857142857142855, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.44285714285714284, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2485714285714286, 0.2542857142857143, 0.4914285714285715, 1.0], "mean": [0.04762743125419182, 0.045497987927565375, -0.01002682763246143, 0.0, -0.5845070422535211, -0.006597920858484243, 0.00996814218645204, 0.004527162977867196, -0.00046613011401743697, -0.00033199195171025305, 0.012109322602280346, -0.45539906103286387], "std": [0.2063429882224785, 0.213629744176208, 0.1532128821781339, 0.0, 0.8113886353382331, 0.264927759948386, 0.27911751740495244, 0.4067312439851359, 0.04277505247464486, 0.07099003518867711, 0.08515144023763459, 0.8902874228081562], "count": [852]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018779342994093895], "std": [0.13574491441249847], "count": [852]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011737089201877935], "std": [0.034239324285950286], "count": [852]}, "timestamp": {"min": [0.0], "max": [42.55], "mean": [21.275], "std": [12.297552263221599], "count": [852]}, "frame_index": {"min": [0], "max": [851], "mean": [425.5], "std": [245.95104526443197], "count": [852]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [852]}, "index": {"min": [53215], "max": [54066], "mean": [53640.5], "std": [245.95104526443197], "count": [852]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [852]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5969076704078303]], [[0.5521607547420672]], [[0.4769215249217625]]], "std": [[[0.1894033275216339]], [[0.1869150760762277]], [[0.18791996116268897]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.53933223184721]], [[0.5463327952340894]], [[0.4831640883961614]]], "std": [[[0.19574821222598623]], [[0.1787803105456207]], [[0.18207671694011052]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03137254901960784]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5391611092693058]], [[0.5625140887288222]], [[0.48887682080440537]]], "std": [[[0.18384962048095685]], [[0.15774120879547454]], [[0.1723688622362055]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [998]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [998]}, "observation.state": {"min": [2.336361113860194, -4.386975825699807, 0.6999963855257034, 0.0, 0.0, -0.7309378385543823, 0.682444155216217, 0.02777054549556457, -0.32313041861912595, -0.0008215843819338042, -0.9995062351226807, -0.31722205877304077, -0.34999698400497437, 6.118632154539227e-05, 0.0046200492645069365, -0.041955290776920284], "max": [4.295447099472562, -3.3855811719507294, 0.7109848458659278, 0.0, 0.0, 2.711227011786832e-07, 1.0, 0.4790891048637578, 0.42294132575513466, 0.6286854819698372, 0.9979313611984253, 0.3231160044670105, 0.3232085406780243, 0.13223955035209656, 0.04048327562979915, -0.012094615811873663], "mean": [3.4048490179432953, -3.9512012671474066, 0.706765916209381, 0.0, 0.0, -0.5857661619679337, 0.7889579653381584, 0.2675932083952985, -0.027827982523798624, 0.36390958174250954, -0.36513589498753063, 0.03191712059319497, -0.03243671444697484, 0.04054528327764864, 0.029284809680277184, -0.02955860361099872], "std": [0.9068615946761103, 0.37532502551920655, 0.004011715337131447, 0.0, 0.0, 0.16559099922327994, 0.0836836577071776, 0.1401312894839862, 0.17685380233590545, 0.1707624423114147, 0.896904972607114, 0.14491034919869358, 0.19103155065940475, 0.03210021774503931, 0.012470062740351891, 0.011979715238955472], "count": [998]}, "action": {"min": [-1.0, -1.0, -0.7028571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.22, -0.47714285714285715, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.22, 0.0, 1.0, 0.8214285714285715, 0.8500000000000001, 1.0, 0.3, 0.38857142857142857, 0.4285714285714286, 1.0], "mean": [0.04856140853134842, -0.003263670197537938, -0.028408245061551665, 0.0, -0.6432865731462926, 0.01499427426281135, -0.02656026338391066, -0.013877755511022076, 0.00014886916690523783, -0.001855138849126823, 0.0029630689951331227, -0.16633266533066132], "std": [0.23670277837400072, 0.27649893460320074, 0.11724712195946947, 0.0, 0.7656254859980234, 0.2764735598706138, 0.2918252053377268, 0.3696328556030118, 0.04667797669668065, 0.07805555104138678, 0.07224257780211861, 0.9860696955306922], "count": [998]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016032064333558083], "std": [0.1255987137556076], "count": [998]}, "next.done": {"min": [false], "max": [true], "mean": [0.001002004008016032], "std": [0.03163858397564518], "count": [998]}, "timestamp": {"min": [0.0], "max": [49.85], "mean": [24.925], "std": [14.4048819849383], "count": [998]}, "frame_index": {"min": [0], "max": [997], "mean": [498.5], "std": [288.097639698766], "count": [998]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [998]}, "index": {"min": [54067], "max": [55064], "mean": [54565.5], "std": [288.097639698766], "count": [998]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [998]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5152835554293105]], [[0.44289712762376027]], [[0.400792921732798]]], "std": [[[0.21263452173605413]], [[0.19538056262591116]], [[0.1933764622562289]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5129485599247041]], [[0.42685146815944613]], [[0.3804862745302139]]], "std": [[[0.22310983292152783]], [[0.2137096089338542]], [[0.20968841714741634]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5147435659259844]], [[0.415174731202248]], [[0.36343292686275697]]], "std": [[[0.20755556331393155]], [[0.2131996090036458]], [[0.21537817505353762]]], "count": [258]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1649]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1649]}, "observation.state": {"min": [-2.242389861957197, -3.6164123802354986, 0.699998180355694, 0.0, 0.0, -1.0, 7.942745128275419e-08, -0.017161108561370764, -0.4516753451996456, 0.0034176529904053066, -0.9981460571289062, -0.9375485777854919, -0.25093698501586914, 4.188228103885194e-06, 0.005706035426828412, -0.04057407721677703], "max": [-1.752887482828149, -2.4060505292671883, 0.7089197677349899, 0.0, 0.0, 1.0, 0.6264444589614868, 0.6958923861040502, 0.18285394591754756, 0.6080447385573052, 0.9994933605194092, 0.9980924129486084, 0.2444947212934494, 0.3069452941417694, 0.04085780839386602, -0.016246869711451502], "mean": [-2.1413581842229927, -3.1003420136948394, 0.7043914378009832, 0.0, 0.0, 0.5517799335222956, 0.35984420797601363, 0.3219149685776725, -0.0879342024997337, 0.33086702303008747, -0.45188323301424116, 0.08075001259521328, -0.016012826293526145, 0.04634125129917714, 0.03206420621147503, -0.029626538285966897], "std": [0.10470043031100898, 0.2735648639437991, 0.0029297416997518784, 0.0, 0.0, 0.6998052318960475, 0.2762674268232683, 0.17257270680314785, 0.16007720649413687, 0.17189108152985347, 0.7648578981013279, 0.42401776469815505, 0.1372336055515528, 0.05696774289048093, 0.010015923621583147, 0.01063482707562445], "count": [1649]}, "action": {"min": [-1.0, -1.0, -0.5685714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2257142857142857, -0.26, -0.4371428571428572, -1.0], "max": [0.9857142857142858, 1.0, 0.7, 0.0, 1.0, 0.5785714285714286, 0.8, 0.8857142857142857, 0.2142857142857143, 0.20285714285714287, 0.3914285714285714, 1.0], "mean": [0.015251667677380232, 0.005743740795287163, -0.0026873429784284885, 0.0, -0.6070345664038811, -0.004543879407433069, -0.0010136013168154016, -0.020601230182794753, 0.0016096335441393031, 0.0020635883219267096, 0.015358225764532624, -0.05154639175257732], "std": [0.14851076118172743, 0.20554223995206394, 0.1248446799458684, 0.0, 0.7946754275745895, 0.23987018655542322, 0.2570540912094266, 0.271761952146804, 0.042136693453003755, 0.05273780840845844, 0.10340801401773661, 0.9986706010979056], "count": [1649]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010309278033673763], "std": [0.10100989043712616], "count": [1649]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006064281382656155], "std": [0.024618293669113934], "count": [1649]}, "timestamp": {"min": [0.0], "max": [82.4], "mean": [41.2], "std": [23.80126047082381], "count": [1649]}, "frame_index": {"min": [0], "max": [1648], "mean": [824.0], "std": [476.0252094164762], "count": [1649]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1649]}, "index": {"min": [55065], "max": [56713], "mean": [55889.0], "std": [476.0252094164762], "count": [1649]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1649]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.550946553704822]], [[0.5461910638240387]], [[0.509623548928478]]], "std": [[[0.20087403860206987]], [[0.18802793980659313]], [[0.2006659581535688]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5054215885777577]], [[0.46576121002971094]], [[0.4198851517737126]]], "std": [[[0.23299426227253206]], [[0.2343549330781617]], [[0.2397497162993584]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47457539776049285]], [[0.4377564447761475]], [[0.39554114436212356]]], "std": [[[0.22966322699490635]], [[0.2360548569910217]], [[0.24736020463147942]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1106]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1106]}, "observation.state": {"min": [0.7831321780113927, -4.364459993295461, 0.6999929812940131, 0.0, 0.0, -1.0, 0.0, 0.023628922505156247, -0.33729486447695434, 0.04279254082266759, -0.9999786019325256, -0.8534325957298279, -0.30621564388275146, 4.011375494883396e-06, 0.017915064352652887, -0.04072500095008372], "max": [1.5276389238877772, -2.9351847259086585, 0.7091471188894861, 0.0, 0.0, 1.0, 0.5888057351112366, 0.6134883976168082, 0.3222033285392276, 0.6161441891817221, 0.9999163150787354, 0.8579403162002563, 0.3223605751991272, 0.22961081564426422, 0.040550802298225753, -0.008543933633294929], "mean": [0.9193785191807414, -3.966042125793711, 0.7068452676313566, 0.0, 0.0, 0.42139853609836986, 0.40594007683006483, 0.27873919618336446, -0.08576226716511627, 0.39590588164823687, -0.12980347936450895, 0.1193319845891593, 0.035718022430390135, 0.040982315654489385, 0.03610609728880092, -0.03442613012350058], "std": [0.16814640080306162, 0.41798859287431056, 0.0031934711061503873, 0.0, 0.0, 0.7864841779708965, 0.19768300018913268, 0.1687952974547065, 0.13899332439268247, 0.1452869385243073, 0.8982461655578685, 0.3603598654765169, 0.1668269581942482, 0.037669176124162575, 0.006078047116114704, 0.008817824835503816], "count": [1106]}, "action": {"min": [-1.0, -1.0, -0.8285714285714287, 0.0, -1.0, -1.0, -1.0, -0.6642857142857144, -0.3914285714285714, -0.6085714285714285, -0.4885714285714286, -1.0], "max": [1.0, 1.0, 0.9942857142857144, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2485714285714286, 0.38285714285714284, 0.8371428571428572, 1.0], "mean": [0.07851976233531388, 0.0010591578403513267, -0.01711185740118832, 0.0, -0.3996383363471971, 0.007194523378971786, 0.00955825368121931, -0.003274347713769078, -0.007907517437354681, 0.0004107465771118622, 0.0019684835959700286, -0.2513562386980108], "std": [0.30606287195746273, 0.37571054834925843, 0.2108985003150767, 0.0, 0.9166728970148681, 0.34401820154992924, 0.32264284044578323, 0.3209182914451519, 0.05204425524274047, 0.09016794890578048, 0.15582309057674318, 0.9678946436816388], "count": [1106]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014466546475887299], "std": [0.11940379440784454], "count": [1106]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009041591320072332], "std": [0.030055642203606982], "count": [1106]}, "timestamp": {"min": [0.0], "max": [55.25], "mean": [27.625], "std": [15.96372841788534], "count": [1106]}, "frame_index": {"min": [0], "max": [1105], "mean": [552.5], "std": [319.2745683577068], "count": [1106]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1106]}, "index": {"min": [56714], "max": [57819], "mean": [57266.5], "std": [319.2745683577068], "count": [1106]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1106]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.392123472924326]], [[0.3722303326253378]], [[0.3556725343883547]]], "std": [[[0.24046862926473075]], [[0.22764462244851802]], [[0.21981195514167326]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4058256516185701]], [[0.393796556721146]], [[0.37588237196671537]]], "std": [[[0.25524993088872366]], [[0.24146281015519266]], [[0.22745921777067526]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4090882998582045]], [[0.3969690653329641]], [[0.37924013685376995]]], "std": [[[0.24522775921777004]], [[0.23615492234594068]], [[0.22728851577362666]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1138]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1138]}, "observation.state": {"min": [0.7448879664261956, -5.5083150153329425, 0.6999925093947765, 0.0, 0.0, -0.4063781797885895, 0.913705050945282, -0.03171498576831899, -0.45572470929560227, -0.026041096282208298, -0.9968218803405762, -0.8544898629188538, -0.18331581354141235, 5.014356429455802e-05, -0.002905074437858274, -0.04169017491697795], "max": [1.3097422021792833, -2.8719660479186806, 0.7146688939519891, 0.0, 0.0, 0.2914811670780182, 1.0, 0.5914017233501001, 0.02139597284775352, 0.5984141272268416, 0.9972984194755554, 0.8545129895210266, 0.19531796872615814, 0.1850912868976593, 0.04005079453163642, -0.01206329254857333], "mean": [1.1714830349092658, -4.535870429548427, 0.7085148871798214, 0.0, 0.0, -0.19415251815994208, 0.9556144293142329, 0.19866609741479455, -0.11343520915597806, 0.3729447783195209, 0.015323197956872951, 0.04156372573076107, 0.02570077645465951, 0.04454319746312318, 0.029846895665333537, -0.03435484471659439], "std": [0.10282310431324881, 0.9749013896438962, 0.004757363601247015, 0.0, 0.0, 0.2190638755603728, 0.033419855600680955, 0.15376807558582828, 0.09061792991957815, 0.16365295358715642, 0.9433571352720135, 0.30793123245829107, 0.09724289838381255, 0.034532947481301125, 0.011572844348988531, 0.00909913724577328], "count": [1138]}, "action": {"min": [-1.0, -1.0, -0.7628571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.42, -0.32571428571428573, -0.9371428571428573, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.28285714285714286, 0.4742857142857143, 0.5685714285714286, 1.0], "mean": [0.025156916896811467, 0.021805171980918917, 0.0017725332663821227, 0.0, -0.4024604569420035, -0.006207632437860916, -0.0010105448154657326, -0.030203364298267695, -0.0025558624152648753, 0.001780065277429073, 0.0021968365553602836, -0.17398945518453426], "std": [0.32911963123267285, 0.4313483782230463, 0.20086092109530768, 0.0, 0.9154373712046152, 0.3452312804389268, 0.2616059167448315, 0.41456020614372807, 0.06500370913213842, 0.06469397945232808, 0.15500581015627257, 0.9847475156021419], "count": [1138]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014059754088521004], "std": [0.11773732304573059], "count": [1138]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008787346221441124], "std": [0.029630431107359165], "count": [1138]}, "timestamp": {"min": [0.0], "max": [56.85], "mean": [28.425], "std": [16.425608816722747], "count": [1138]}, "frame_index": {"min": [0], "max": [1137], "mean": [568.5], "std": [328.5121763344549], "count": [1138]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1138]}, "index": {"min": [57820], "max": [58957], "mean": [58388.5], "std": [328.5121763344549], "count": [1138]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1138]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40759120134831994]], [[0.3630730296390378]], [[0.342239990171717]]], "std": [[[0.1933917049659075]], [[0.19456156085829934]], [[0.2010576973085288]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43329202949407225]], [[0.40628455588612244]], [[0.3960985101281391]]], "std": [[[0.2027449423963501]], [[0.2174374799772828]], [[0.22628128244257256]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4113342053321656]], [[0.38139330009552086]], [[0.37063496249643096]]], "std": [[[0.20207296612403136]], [[0.21710174404190563]], [[0.2249007992480234]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1106]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1106]}, "observation.state": {"min": [5.086448439942825, -1.1693152437326473, 0.699997710532925, 0.0, 0.0, 0.19214673340320587, 0.6749251484870911, 0.05419940114371059, -0.3099399363324089, 0.007940953581289989, -0.9967297315597534, -0.5640562772750854, -0.19813095033168793, 0.0007114059990271926, 0.006499192042005788, -0.04044161777170443], "max": [5.277040183146968, -0.8688643360473193, 0.7063983153126139, 0.0, 0.0, 0.7378862500190735, 0.9813661575317383, 0.4186240045779783, 0.17271647533112677, 0.6170764355828319, 0.9986184239387512, 0.9713932871818542, 0.27333468198776245, 0.28349095582962036, 0.0400151791978555, 0.0005644084095484647], "mean": [5.149241322273196, -0.9674187929195779, 0.7023464846871951, 0.0, 0.0, 0.5538510006817081, 0.7969787790697694, 0.21695980083776636, -0.059886629728438424, 0.3641932107699185, -0.19501246459391405, 0.33213560149464316, -0.01682461910967098, 0.05375178847328261, 0.02921013699990531, -0.02780418140596342], "std": [0.08006328155748955, 0.12334623027854114, 0.0021313835009975544, 0.0, 0.0, 0.2129388378895788, 0.11283148339569157, 0.10260730122148687, 0.13508388717658934, 0.13779332652705087, 0.7911571754342045, 0.4558331840304765, 0.11125028844771555, 0.04892404639108138, 0.013538217502316414, 0.014902517022048312], "count": [1106]}, "action": {"min": [-0.7142857142857143, -0.6, -0.45999999999999996, 0.0, -1.0, -0.8714285714285716, -0.7571428571428572, -0.8928571428571429, -0.20285714285714287, -0.2, -0.35714285714285715, -1.0], "max": [0.8285714285714285, 0.4928571428571429, 0.7342857142857143, 0.0, 1.0, 0.4785714285714286, 1.0, 0.9642857142857144, 0.19142857142857142, 0.2714285714285714, 0.5257142857142857, 1.0], "mean": [0.020304830793076715, 0.001194781710152415, -0.0032988891759235385, 0.0, -0.6148282097649186, -0.00831180573495219, 0.01763756135365539, -0.024199173340222153, -0.0028623094807543287, 0.0018212348230431433, 0.0028287264272797577, -0.23688969258589512], "std": [0.1482454845853821, 0.09956729443472738, 0.13581796095704027, 0.0, 0.7886610631172761, 0.21260789142094183, 0.21085226763022905, 0.26019250944964833, 0.03821920722281874, 0.05812496322913886, 0.11533139834108093, 0.9715365528617926], "count": [1106]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014466546475887299], "std": [0.11940379440784454], "count": [1106]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009041591320072332], "std": [0.030055642203606982], "count": [1106]}, "timestamp": {"min": [0.0], "max": [55.25], "mean": [27.625], "std": [15.96372841788534], "count": [1106]}, "frame_index": {"min": [0], "max": [1105], "mean": [552.5], "std": [319.2745683577068], "count": [1106]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1106]}, "index": {"min": [58958], "max": [60063], "mean": [59510.5], "std": [319.2745683577068], "count": [1106]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1106]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5671514887066694]], [[0.4173361932776169]], [[0.3440225544113616]]], "std": [[[0.19667179776008034]], [[0.17861920258183095]], [[0.16884777675502402]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.569627526817676]], [[0.44983954690435235]], [[0.3819549883359234]]], "std": [[[0.1759373903541261]], [[0.20917351093789982]], [[0.22273331594869042]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5698459078037825]], [[0.45704925387513406]], [[0.3846289474282594]]], "std": [[[0.1682878227736085]], [[0.19252495096588387]], [[0.2062548157501962]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [817]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [817]}, "observation.state": {"min": [2.8308869293345453, -3.62474581440437, 0.6999986986112711, 0.0, 0.0, -1.0, 4.340937493907404e-07, 0.21008406867099083, -0.29975138975817817, 0.006626403614858778, -0.9996296167373657, -0.9157652854919434, -0.1428103744983673, 2.8877766453661025e-05, -0.00038847723764918167, -0.04112078915988754], "max": [3.202824376172755, -2.7198784864147827, 0.7026385523627033, 0.0, 0.0, 1.0, 0.5072481632232666, 0.7342720452377312, 0.291836550780483, 0.5862791472768925, 0.9983697533607483, 0.9084576964378357, 0.1698979288339615, 0.2855823338031769, 0.040130322322886346, -0.00968937252003812], "mean": [2.9413029901740684, -3.525011769726892, 0.7008454467701356, 0.0, 0.0, 0.7952373908374417, 0.42330342321075576, 0.4006961441142152, -0.014541730586256556, 0.34126158028255155, -0.26141347426971284, -0.03875855396124403, -0.03337628615500988, 0.055364882000154166, 0.03323294814387294, -0.0350106744567315], "std": [0.058860728346209826, 0.12085888119002701, 0.000984045837480633, 0.0, 0.0, 0.39904559256667993, 0.1708049309047786, 0.17732598918391507, 0.16665074250793085, 0.1779446258820603, 0.7445412012934213, 0.5989298349499592, 0.09743030237143471, 0.05856886900957446, 0.01164389796350169, 0.010482964747365738], "count": [817]}, "action": {"min": [-0.6910714285714286, -0.5892857142857143, -0.3578571428571428, 0.0, -1.0, -1.0, -0.5357142857142857, -0.6428571428571429, -0.11785714285714285, -0.3792857142857142, -0.07714285714285715, -1.0], "max": [0.567857142857143, 0.9375, 0.047142857142857146, 0.0, 1.0, 0.9160714285714286, 0.8517857142857143, 1.0, 0.17785714285714288, 0.19500000000000003, 0.2828571428571429, 1.0], "mean": [0.04686352509179926, 0.05370257037943701, -0.03828291659381009, 0.0, -0.49571603427172584, 0.0002579122224164886, 0.003894911697849278, -0.01941117328204232, 0.0017887742612344819, -0.0037165588389578594, 0.020767616716209088, -0.5104039167686658], "std": [0.15323248156289768, 0.18049512000951998, 0.09392728977863932, 0.0, 0.8684846650148165, 0.38624146238578866, 0.19686630784425016, 0.30463765631393663, 0.03233147080748174, 0.07875862815960678, 0.05756943443042237, 0.8599347892411419], "count": [817]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019583843648433685], "std": [0.13856519758701324], "count": [817]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012239902080783353], "std": [0.034964153872914815], "count": [817]}, "timestamp": {"min": [0.0], "max": [40.8], "mean": [20.400000000000002], "std": [11.792370414806346], "count": [817]}, "frame_index": {"min": [0], "max": [816], "mean": [408.0], "std": [235.84740829612693], "count": [817]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [817]}, "index": {"min": [60064], "max": [60880], "mean": [60472.0], "std": [235.84740829612693], "count": [817]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [817]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.594160554780207]], [[0.4336708591207359]], [[0.3622081665444525]]], "std": [[[0.19130492302725705]], [[0.22554681955516995]], [[0.2595115084999431]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5108178801185562]], [[0.43683949765522456]], [[0.39642343466961155]]], "std": [[[0.2412111936018271]], [[0.2675356132920825]], [[0.28564883122779544]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5362891751138852]], [[0.4428184611460384]], [[0.39072546505741557]]], "std": [[[0.241549882537481]], [[0.27341279757153863]], [[0.29087165031336276]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1045]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1045]}, "observation.state": {"min": [0.9884282560601252, -1.196291651656878, 0.6999979172688813, 0.0, 0.0, -1.0, 2.911345291067846e-06, 0.10851765145698256, -0.17156096215486227, -0.032710520031522305, -0.9926934838294983, -0.5386539697647095, -0.373220294713974, 2.1345413188100792e-05, 0.010238149152932948, -0.04070184585258785], "max": [1.2931686315332305, -1.083575460378095, 0.7036659592886925, 0.0, 0.0, 1.0, 0.03324839472770691, 0.6554398984892158, 0.3624749016362838, 0.6179725094983881, 0.9923795461654663, 0.7719004154205322, 0.39135757088661194, 0.320290744304657, 0.040012508080328454, -0.013384931260938327], "mean": [1.1352683299956992, -1.1873894789362087, 0.7024258537730435, 0.0, 0.0, 0.9689156161541004, 0.029366801154871162, 0.4014708739439046, 0.01888067276033526, 0.33497784442449213, 0.57961432363428, 0.39479165831536195, 0.05942706127427396, 0.09554067615362846, 0.03203311362011128, -0.032820728437574415], "std": [0.14558104934675292, 0.023216354020411837, 0.0011876491779250055, 0.0, 0.0, 0.2455158060810028, 0.007881651278462687, 0.1434602964814881, 0.15303998719997403, 0.16992392393935968, 0.6024644096182391, 0.32919513839534703, 0.1301754623197503, 0.08513946829272619, 0.011130565249409604, 0.01089530697042113], "count": [1045]}, "action": {"min": [-0.6785714285714286, 0.0, -0.13428571428571429, 0.0, -1.0, -1.0, -1.0, -0.7071428571428572, -0.3514285714285714, -0.7914285714285716, -0.4285714285714286, -1.0], "max": [0.5857142857142857, 0.5214285714285715, 0.002857142857142857, 0.0, 1.0, 0.6857142857142858, 0.8, 1.0, 0.38857142857142857, 0.29428571428571426, 0.6742857142857143, 1.0], "mean": [0.005427204374572798, 0.009166097060833912, -0.0017552973342447025, 0.0, -0.7741626794258373, -0.018653451811346537, -0.01762132604237869, -0.023069036226930933, -0.0017388926862611082, -0.008448393711551604, 0.011855092276144917, -0.41818181818181815], "std": [0.11516975069663891, 0.05360190836621183, 0.012094599840030818, 0.0, 0.6329866868933408, 0.3433058596929695, 0.19731204551813697, 0.3379954695364205, 0.07136664013659719, 0.08660422318285514, 0.1158471836501246, 0.908363345221587], "count": [1045]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015311004593968391], "std": [0.12278670817613602], "count": [1045]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009569377990430622], "std": [0.03091960654814069], "count": [1045]}, "timestamp": {"min": [0.0], "max": [52.2], "mean": [26.1], "std": [15.083268876473692], "count": [1045]}, "frame_index": {"min": [0], "max": [1044], "mean": [522.0], "std": [301.66537752947386], "count": [1045]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1045]}, "index": {"min": [60881], "max": [61925], "mean": [61403.0], "std": [301.66537752947386], "count": [1045]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1045]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6338330429483743]], [[0.5335594871524831]], [[0.48131163545803185]]], "std": [[[0.23519786276623147]], [[0.2758655695635238]], [[0.3105436598008823]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5881989630099336]], [[0.5564258366388674]], [[0.5094193429309198]]], "std": [[[0.18370936576982994]], [[0.20170389762313296]], [[0.22445783868242059]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5908269990563333]], [[0.5692648491109059]], [[0.525990736910061]]], "std": [[[0.19634359279025917]], [[0.21308038568811677]], [[0.23542930160874234]]], "count": [156]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [842]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [842]}, "observation.state": {"min": [2.7424368836667936, -3.334065462924723, 0.6999992413897992, 0.0, 0.0, -0.9999526739120483, 0.003559970064088702, 0.07353717377174807, -0.13087644207839233, -0.02265947803919155, -0.9995923042297363, -0.7806459069252014, -0.19566906988620758, 7.838205056032166e-05, 0.008666215847324904, -0.04002708314562396], "max": [4.7005669497577856, -1.4200846305529915, 0.7065161847985685, 0.0, 0.0, 0.9999936819076538, 1.0, 0.6037119093827847, 0.32371175183843626, 0.6158388498409352, 0.9813295602798462, 0.7443268895149231, 0.069947250187397, 0.06940177828073502, 0.040583978569952106, -0.008644858441116027], "mean": [3.7857490072417983, -2.61320189960588, 0.7046759859598875, 0.0, 0.0, -0.5770012380087395, 0.684741297268614, 0.33751798169605624, 0.044654115285352174, 0.3508787005108384, -0.4005000942393323, -0.16073332650856847, -0.05720574862996754, 0.026646897359389958, 0.02654422597546532, -0.026984535716033153], "std": [0.8887251017779645, 0.6359659822086078, 0.002480686783870116, 0.0, 0.0, 0.4150855561632304, 0.16094380288535454, 0.10944436441267791, 0.1381599741404105, 0.157219779360938, 0.7958103090301905, 0.41515533409982963, 0.06186469026733939, 0.01693146214519131, 0.013526874382884042, 0.01371408419805582], "count": [842]}, "action": {"min": [-0.7000000000000001, -0.9571428571428572, -0.9142857142857144, 0.0, -1.0, -1.0, -1.0, -0.95, -0.08285714285714285, -0.2285714285714286, -0.28285714285714286, -1.0], "max": [1.0, 0.8428571428571429, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.1142857142857143, 0.12571428571428572, 0.3342857142857143, 1.0], "mean": [0.06512555140821173, -0.020792331184255164, 0.09408211740753317, 0.0, -0.3087885985748218, -0.007719714964370557, -0.011655921275873758, -0.014243298269426526, 0.0007159823549372247, 0.0003902273498473049, 0.00032575500508992685, -0.0855106888361045], "std": [0.29158181927714344, 0.24511939604260444, 0.3212325040051401, 0.0, 0.9511306962716559, 0.31828349611009615, 0.34232298012528883, 0.3361737762494275, 0.013729280310549223, 0.04539219896289867, 0.09809949603104855, 0.9963372531902924], "count": [842]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01900237612426281], "std": [0.13653309643268585], "count": [842]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011876484560570072], "std": [0.0344418052256532], "count": [842]}, "timestamp": {"min": [0.0], "max": [42.05], "mean": [21.025], "std": [12.153214595324153], "count": [842]}, "frame_index": {"min": [0], "max": [841], "mean": [420.5], "std": [243.06429190648305], "count": [842]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [842]}, "index": {"min": [61926], "max": [62767], "mean": [62346.5], "std": [243.06429190648305], "count": [842]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [842]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6040471282659793]], [[0.5542694568634033]], [[0.5181479463390276]]], "std": [[[0.23147135588257411]], [[0.24679538824098957]], [[0.26606194110385323]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6347652700212267]], [[0.5727588768878015]], [[0.5244813295750836]]], "std": [[[0.1989382368843993]], [[0.22347244347513137]], [[0.2562004413207015]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6631530920664469]], [[0.5938428448695763]], [[0.5400926664763805]]], "std": [[[0.17781204183292365]], [[0.21054554617773472]], [[0.2506888767086183]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1110]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1110]}, "observation.state": {"min": [1.3543506295247263, -5.482483027749595, 0.6999901658986336, 0.0, 0.0, -0.7116675972938538, 0.7025164365768433, 0.03241782193064591, -0.30489328349199063, 0.010039821629636458, -0.9995922446250916, -0.9997815489768982, -0.2095692753791809, 9.740248970047105e-06, 0.010714214665106062, -0.04001042194147951], "max": [2.505488648953049, -2.0274993483111436, 0.7034301757569102, 0.0, 0.0, 0.033626407384872437, 0.9999995231628418, 0.6952310312520584, 0.22421588796092085, 0.6408915813119719, 0.9995904564857483, 0.9996928572654724, 0.1906300038099289, 0.28017550706863403, 0.040060176548768284, -0.00886367428464431], "mean": [1.978641894645592, -3.7954618594818883, 0.701234989042149, 0.0, 0.0, -0.3084418080234271, 0.8717133313685924, 0.39823260159245716, -0.03326255222705545, 0.36123251896356856, -0.4435460569018179, 0.05500060402293194, -0.04875490229112877, 0.05147233844410932, 0.028911029578915965, -0.028129044789547294], "std": [0.4129787118429349, 1.6057954859714498, 0.0013408217786003305, 0.0, 0.0, 0.3522614767040953, 0.14453851262925102, 0.15523553321562097, 0.13056599295057467, 0.14334584970820002, 0.7462024218158481, 0.47281342065441606, 0.1137548020097664, 0.0436422103323727, 0.011648587663381534, 0.012233054189948028], "count": [1110]}, "action": {"min": [-1.0, -1.0, -0.3628571428571429, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.3, -0.6057142857142859, -0.8, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.12571428571428572, 0.38857142857142857, 0.6057142857142859, 1.0], "mean": [0.03866795366795367, -0.09387387387387389, 0.026808236808236813, 0.0, -0.5801801801801801, -0.0011518661518661742, 0.011196911196911198, -0.0030180180180180375, -0.009436293436293437, -0.0057014157014156994, 0.022803088803088786, -0.07207207207207207], "std": [0.24706692703015723, 0.3497745386488465, 0.1363131344967473, 0.0, 0.8144881573884819, 0.3427171618895136, 0.20814456597150346, 0.321748792081307, 0.042853907376101154, 0.09757685540071126, 0.13231408372086884, 0.9973994267229297], "count": [1110]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014414414763450623], "std": [0.11919160932302475], "count": [1110]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009009009009009009], "std": [0.030001487937561647], "count": [1110]}, "timestamp": {"min": [0.0], "max": [55.45], "mean": [27.725], "std": [16.021463468318576], "count": [1110]}, "frame_index": {"min": [0], "max": [1109], "mean": [554.5], "std": [320.4292693663715], "count": [1110]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1110]}, "index": {"min": [62768], "max": [63877], "mean": [63322.5], "std": [320.4292693663715], "count": [1110]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1110]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5505492701674952]], [[0.4345357189605344]], [[0.368750308560579]]], "std": [[[0.17791127069886015]], [[0.18400633245733936]], [[0.1947237443076629]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5938916782644343]], [[0.48035829800571583]], [[0.41079859122542445]]], "std": [[[0.16009311036029383]], [[0.19920586406502863]], [[0.2156799074038602]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5974177840488409]], [[0.49559541710959165]], [[0.429872442628162]]], "std": [[[0.18450849580920525]], [[0.2179634815974775]], [[0.23351557349995997]]], "count": [198]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1155]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1155]}, "observation.state": {"min": [4.340151915416933, -2.5108216125742544, 0.6999970137702968, 0.0, 0.0, -0.639629602432251, 0.7686833143234253, 0.03893204530674854, -0.4952342088845647, -0.023582862546158934, -0.9996157884597778, -0.39481619000434875, -0.2096264362335205, 9.051585948327556e-05, -0.0018025422810110056, -0.04124987646099807], "max": [4.912592586716053, -1.5297382643879653, 0.708421726006321, 0.0, 0.0, 0.16727721691131592, 1.0, 0.6233786271076869, 0.0011553122857606013, 0.6351954284378181, 0.9999644160270691, 0.5805695652961731, 0.4880863130092621, 0.2531445026397705, 0.04057751480574966, -0.014976089629059563], "mean": [4.803576981880937, -1.962359984755816, 0.7049688427797901, 0.0, 0.0, -0.2579308074570368, 0.9257067955417551, 0.2391212830292106, -0.17149531321279343, 0.37716244829288065, -0.14164764163814067, 0.11170330839110659, 0.024462447971829327, 0.040828471169982145, 0.030036779112840792, -0.03188972895129137], "std": [0.09882013577255107, 0.3425154555655307, 0.002966773895523961, 0.0, 0.0, 0.2650618211354991, 0.07925197986328064, 0.14902316124112794, 0.11977761974959639, 0.1544530944905447, 0.937165354303481, 0.2691876268820193, 0.1122198858445733, 0.0431133537699499, 0.01140147504116529, 0.010616076094246536], "count": [1155]}, "action": {"min": [-1.0, -1.0, -0.9914285714285714, 0.0, -1.0, -1.0, -1.0, -0.7214285714285715, -0.18285714285714286, -0.3942857142857143, -0.7314285714285714, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.23142857142857146, 0.35714285714285715, 0.37142857142857144, 1.0], "mean": [0.02614100185528758, 0.06339517625231911, 0.005293753865182437, 0.0, -0.42857142857142855, -0.004001236858379722, -0.018787878787878826, -0.012337662337662411, 0.002852195423623996, -0.006614718614718617, 0.0017786023500309161, -0.004329004329004329], "std": [0.24416697938678636, 0.29426100961093166, 0.24722832469792783, 0.0, 0.903507902905257, 0.2934943042303601, 0.2585132469208311, 0.33608159559128054, 0.037130010293086185, 0.07420466940297607, 0.12094849738997672, 0.999990629816867], "count": [1155]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013852814212441444], "std": [0.1168799102306366], "count": [1155]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008658008658008658], "std": [0.029411753682187063], "count": [1155]}, "timestamp": {"min": [0.0], "max": [57.7], "mean": [28.85], "std": [16.670982774469735], "count": [1155]}, "frame_index": {"min": [0], "max": [1154], "mean": [577.0], "std": [333.41965548939476], "count": [1155]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1155]}, "index": {"min": [63878], "max": [65032], "mean": [64455.0], "std": [333.41965548939476], "count": [1155]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1155]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874573545614159]], [[0.5485126511855243]], [[0.48167571852709434]]], "std": [[[0.18944938849728543]], [[0.18927054348278477]], [[0.1906799396035004]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5889863423020951]], [[0.5939937815946691]], [[0.5216460828747564]]], "std": [[[0.16973724693985145]], [[0.15028718254595022]], [[0.16238256299572665]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.592630235337324]], [[0.5925809975495105]], [[0.521205168772487]]], "std": [[[0.16526426777260814]], [[0.1482864491566484]], [[0.16285458818050022]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1135]}, "observation.state": {"min": [0.49774308180328886, -1.4863949339576097, 0.6999935434735431, 0.0, 0.0, 0.44995567202568054, 0.6624189019203186, 0.015182207478934728, -0.092098022619572, 0.013592122035954612, -0.9971189498901367, -0.5066510438919067, -0.3192879557609558, 6.558564200531691e-05, 0.006942668793045628, -0.040117143478424766], "max": [4.663838747001855, -0.7513723626524558, 0.7042868948341163, 0.0, 0.0, 0.7491336464881897, 0.8930509686470032, 0.5755440325175329, 0.3335174446390722, 0.6070844714096969, 0.9813001751899719, 0.3282490074634552, 0.357978880405426, 0.09801598638296127, 0.04022444990851594, -0.01657194635672247], "mean": [1.8654106407500135, -1.0204752127055567, 0.7016628806250546, 0.0, 0.0, 0.70229744491073, 0.7096214037109577, 0.22826536434052272, 0.04167629980323708, 0.40796625443470175, -0.626819732430748, -0.04204294711088819, -0.08052291992678931, 0.04462329242852853, 0.03335742052134394, -0.03558027114123983], "std": [1.5979961231734212, 0.2411250134764554, 0.00147649206149815, 0.0, 0.0, 0.043124521118761895, 0.036824314717205035, 0.1653569510484342, 0.12162748401449262, 0.16843134657182798, 0.7357260853483489, 0.10719764575097586, 0.20849179757265798, 0.02451932937105616, 0.010574727359149034, 0.007333404992599408], "count": [1135]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.5357142857142857, -0.7071428571428572, -0.22, -0.35714285714285715, -0.5, -1.0], "max": [1.0, 1.0, 0.37142857142857144, 0.0, 1.0, 0.8500000000000001, 0.6785714285714286, 0.9214285714285714, 0.17142857142857143, 0.24571428571428575, 0.38, 1.0], "mean": [0.033385777218376336, -0.023027061044682155, 0.006104468219005666, 0.0, -0.413215859030837, -0.01655129011957208, 0.003467589679043419, -0.017275015733165554, 0.002104468219005664, -0.005762114537444933, 0.0012108244178728783, -0.0960352422907489], "std": [0.24915025804930332, 0.4297396056209754, 0.1028078978890945, 0.0, 0.9106331060561134, 0.3164629243319979, 0.14620272382190033, 0.3185831126280737, 0.028139751241290676, 0.0684446426976134, 0.07017093770054693, 0.9953779343737549], "count": [1135]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014096916653215885], "std": [0.11789059638977051], "count": [1135]}, "next.done": {"min": [false], "max": [true], "mean": [0.000881057268722467], "std": [0.029669529939176625], "count": [1135]}, "timestamp": {"min": [0.0], "max": [56.7], "mean": [28.35], "std": [16.382307529771257], "count": [1135]}, "frame_index": {"min": [0], "max": [1134], "mean": [567.0], "std": [327.6461505954251], "count": [1135]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1135]}, "index": {"min": [65033], "max": [66167], "mean": [65600.0], "std": [327.6461505954251], "count": [1135]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6149433224540265]], [[0.5587722032059951]], [[0.4902346937941731]]], "std": [[[0.2025012820621164]], [[0.19579894957701882]], [[0.20385670783497073]]], "count": [174]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5984584334629034]], [[0.5492915795089587]], [[0.5002937225761354]]], "std": [[[0.18590731778686653]], [[0.18451672037322772]], [[0.1940360749581504]]], "count": [174]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6316476181817802]], [[0.5680605788850989]], [[0.508526008473556]]], "std": [[[0.14695043044373454]], [[0.15508784997463382]], [[0.17574084395251907]]], "count": [174]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [974]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [974]}, "observation.state": {"min": [0.932185062657179, -4.255454633416907, 0.699998194199268, 0.0, 0.0, -1.0, 4.2792018462023407e-07, 0.043141556342702, -0.017409548236186012, -0.03439061241754282, -0.9998002052307129, -0.7539685964584351, -0.19206947088241577, 0.00015486632764805108, 0.008987351651431993, -0.04010650831909414], "max": [3.7070191063779645, -1.5874408317287974, 0.704539181860532, 0.0, 0.0, 1.0, 0.999476969242096, 0.7816265453417222, 0.32141675706784545, 0.5899596889350814, 0.9999408721923828, 0.7532253265380859, 0.28266963362693787, 0.1659793257713318, 0.04017461756534382, -0.01195963863240862], "mean": [2.164227641583223, -3.349851294307665, 0.7029077543390737, 0.0, 0.0, -0.4380386845195318, 0.546921905988793, 0.30850082793837524, 0.11594807707135005, 0.3428883967990813, -0.6235646765212504, 0.09576805936004316, 0.0035588040789127926, 0.07009411542254175, 0.026118847007475143, -0.02591686967532482], "std": [1.006292702487639, 0.9246567592435866, 0.0016818992944074916, 0.0, 0.0, 0.5364741207117528, 0.470312758666491, 0.2386604299857344, 0.07989948950240172, 0.14280409467186422, 0.664334553925623, 0.3767855784860576, 0.11272058808385008, 0.032496430645493415, 0.011458873540058197, 0.011626126975793962], "count": [974]}, "action": {"min": [-1.0, -1.0, -0.1542857142857143, 0.0, -1.0, -1.0, -0.675, -0.7232142857142858, -0.1542857142857143, -0.255, -0.2528571428571429, -1.0], "max": [1.0, 0.5785714285714285, 0.42000000000000004, 0.0, 1.0, 0.8839285714285714, 0.6214285714285714, 0.9803571428571428, 0.10500000000000001, 0.34714285714285714, 0.2978571428571429, 1.0], "mean": [0.15991676444705205, -0.07825058668231154, 0.06579715459078907, 0.0, -0.3921971252566735, -0.004968465825755365, 0.01096179231446172, -0.02319961865649747, -0.003368289821061896, -0.00044661190965093614, 0.011847315928424753, 0.13552361396303902], "std": [0.3610921036882897, 0.2046680503393421, 0.12988186016498154, 0.0, 0.9198811961011, 0.3614196381825948, 0.18256691989193277, 0.303617496538443, 0.029570305340368537, 0.06574468978357763, 0.07101680321232655, 0.9907741165666333], "count": [974]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01642710529267788], "std": [0.12711119651794434], "count": [974]}, "next.done": {"min": [false], "max": [true], "mean": [0.001026694045174538], "std": [0.032025613881893684], "count": [974]}, "timestamp": {"min": [0.0], "max": [48.65], "mean": [24.325], "std": [14.058471645239393], "count": [974]}, "frame_index": {"min": [0], "max": [973], "mean": [486.5], "std": [281.16943290478787], "count": [974]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [974]}, "index": {"min": [66168], "max": [67141], "mean": [66654.5], "std": [281.16943290478787], "count": [974]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [974]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5816469167969238]], [[0.4830284483590286]], [[0.4094352450608403]]], "std": [[[0.21321202461002037]], [[0.22114142092872333]], [[0.2271627081145802]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6048734716132174]], [[0.5401086114774085]], [[0.4834486563911119]]], "std": [[[0.19002333411597178]], [[0.2042675911589938]], [[0.21596929384213898]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.594895774790808]], [[0.5208796619669215]], [[0.46415044909129805]]], "std": [[[0.16355864324799949]], [[0.1898331958561409]], [[0.20954544485626497]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [847]}, "observation.state": {"min": [0.7495577120953153, -1.6298821544153506, 0.6999831278882892, 0.0, 0.0, -1.0, 7.699389925619471e-08, -0.24806725269054308, -0.06629884569891065, -0.016410074031962707, -0.990605890750885, -0.5179269313812256, -0.23007860779762268, 1.8627172266860725e-06, 0.010999670380898496, -0.04004370588711566], "max": [1.1332922431938195, -0.9312800357855785, 0.7026655917891917, 0.0, 0.0, 1.0, 0.022071460261940956, 0.3652276978475478, 0.6872140376545441, 0.597240983870693, 0.998130202293396, 0.5181934237480164, 0.31009840965270996, 0.12858904898166656, 0.0407651117720671, -0.0013843111803849137], "mean": [0.775768157755405, -0.9537185810910425, 0.7005209774165521, 0.0, 0.0, -0.8559702053542965, 0.003934132532090105, 0.08944836296618225, 0.24381596593269453, 0.3188958639212316, -0.04039567856749227, -0.057515807005597684, 0.007285611091265202, 0.03540908083608526, 0.03372454037719143, -0.032201418083414104], "std": [0.07945171694640459, 0.10329872739287585, 0.0008308726213289123, 0.0, 0.0, 0.5169943237134145, 0.00406261718577075, 0.1865875139532524, 0.2477730704146596, 0.16892813912234272, 0.9355525356975101, 0.31816589217369023, 0.12781384888201602, 0.030475804536379443, 0.009317589639943037, 0.01070343178691231], "count": [847]}, "action": {"min": [-0.4982142857142858, -0.8089285714285713, -0.09428571428571429, 0.0, -1.0, -0.8035714285714287, -0.8357142857142857, -0.5571428571428572, -0.10928571428571428, -0.17785714285714288, -0.24857142857142855, -1.0], "max": [0.7767857142857144, 0.0, 0.13071428571428573, 0.0, 1.0, 0.7232142857142858, 0.6803571428571429, 0.9750000000000002, 0.18214285714285716, 0.1457142857142857, 0.16285714285714287, 1.0], "mean": [0.023781413391803, -0.03192781244729297, 0.0006552538370720189, 0.0, -0.7827626918536009, -0.020600016866250594, -0.004009951087873104, -0.018032130207454998, 0.0008449991566874706, -0.0015002529937594856, -0.010226007758475297, -0.35064935064935066], "std": [0.1390786185654353, 0.13010223514293928, 0.018571237444622975, 0.0, 0.6223203100029069, 0.283051867793618, 0.2680375574516839, 0.286159608696166, 0.02649619646916079, 0.052055538554685546, 0.052437864747097385, 0.9365068247958397], "count": [847]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018890200182795525], "std": [0.13613729178905487], "count": [847]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011806375442739079], "std": [0.03434011705371662], "count": [847]}, "timestamp": {"min": [0.0], "max": [42.3], "mean": [21.15], "std": [12.225383429569806], "count": [847]}, "frame_index": {"min": [0], "max": [846], "mean": [423.0], "std": [244.50766859139614], "count": [847]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [847]}, "index": {"min": [67142], "max": [67988], "mean": [67565.0], "std": [244.50766859139614], "count": [847]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5230588328412487]], [[0.39594718529401274]], [[0.3533548011339194]]], "std": [[[0.26274140883953784]], [[0.2333798791502048]], [[0.23320829898160203]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5129653319984618]], [[0.3581211730481603]], [[0.3232473372900771]]], "std": [[[0.2521870409286172]], [[0.2806513979248328]], [[0.29975547207727865]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4994022661404299]], [[0.39280540062604397]], [[0.3707808411316688]]], "std": [[[0.22354420524689367]], [[0.2474249857299919]], [[0.26619499356574683]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [774]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [774]}, "observation.state": {"min": [3.86162325192189, -1.3714237444682638, 0.6999899189279125, 0.0, 0.0, 0.21486839652061462, 0.7070044875144958, 0.015347139382476893, -0.32345875553645653, 0.04614896067709484, -0.999370813369751, -0.40722763538360596, -0.19668185710906982, 3.444505273364484e-05, 0.0019190905013647824, -0.040083454665797685], "max": [4.3517030285109, -0.9292339505289504, 0.7050011412741735, 0.0, 0.0, 0.707209050655365, 0.9766429662704468, 0.6740706405721576, 0.0898457487650739, 0.6383205612706342, 0.9993793964385986, 0.9944377541542053, 0.2701267898082733, 0.3607375919818878, 0.040641621401122915, -0.0073504832805625165], "mean": [4.147827407853817, -1.122423078202375, 0.702269601666554, 0.0, 0.0, 0.42404765268012845, 0.8650207342411504, 0.3466344400954466, -0.043764299487004714, 0.34492730799256854, 0.15878580293458108, 0.2419810257370774, 0.07737546802507575, 0.04637826213781741, 0.025802692508651054, -0.02696409550068073], "std": [0.22681581306277437, 0.1795322017832505, 0.0017901214457142851, 0.0, 0.0, 0.23525311938298818, 0.12875819920578255, 0.13664210999239065, 0.10429666922326152, 0.14582619084442527, 0.8515540847784284, 0.4074129552482575, 0.11346217057083088, 0.06396095521169899, 0.014785061196878814, 0.013638291797178145], "count": [774]}, "action": {"min": [-1.0, -1.0, -0.8742857142857144, 0.0, -1.0, -1.0, -0.5642857142857142, -1.0, -0.10285714285714286, -0.3457142857142857, -0.54, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.3, 0.5657142857142857, 0.4571428571428572, 1.0], "mean": [0.01256921373200443, 0.006303063861203395, -0.026220007382798085, 0.0, -0.7416020671834626, -0.017727943890734604, 0.01265227021040974, -0.030740125507567353, 0.0017201919527500946, -0.005666297526762641, 0.041129568106312284, -0.06976744186046512], "std": [0.20602979013784664, 0.15483648876481973, 0.11035587209566974, 0.0, 0.670840050943015, 0.3832274988175399, 0.2221849872120356, 0.37757794393497385, 0.031350861458428615, 0.1031160752578017, 0.12497850991796706, 0.9975632832338268], "count": [774]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02067183516919613], "std": [0.14228320121765137], "count": [774]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012919896640826874], "std": [0.03592103042495567], "count": [774]}, "timestamp": {"min": [0.0], "max": [38.65], "mean": [19.325], "std": [11.171718384683114], "count": [774]}, "frame_index": {"min": [0], "max": [773], "mean": [386.5], "std": [223.43436769366227], "count": [774]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [774]}, "index": {"min": [67989], "max": [68762], "mean": [68375.5], "std": [223.43436769366227], "count": [774]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [774]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5535523777382046]], [[0.4093107492208121]], [[0.32881179004053546]]], "std": [[[0.2205363813769287]], [[0.21769209743618578]], [[0.23269962176030934]]], "count": [130]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.06274509803921569]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6556946132193864]], [[0.5830762275707309]], [[0.5266467018184978]]], "std": [[[0.1765921420068019]], [[0.19916210120075503]], [[0.21956798296268581]]], "count": [130]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.07450980392156863]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6830547419069041]], [[0.6140508885908631]], [[0.5566417527234752]]], "std": [[[0.14270622218349835]], [[0.17103647904109096]], [[0.19050774593938727]]], "count": [130]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [665]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [665]}, "observation.state": {"min": [-2.0811307375487016, -2.5130339585417287, 0.6999982466145579, 0.0, 0.0, -1.0, 8.820076402571431e-08, 0.004640494426450648, -0.002853047672942033, 0.02474231808192795, -0.9997042417526245, -0.4735381603240967, -0.18671974539756775, 9.214149758918211e-05, 0.015582666724708857, -0.04000492978859348], "max": [-2.081080299466194, -2.512902806953406, 0.7016442680302063, 0.0, 0.0, 1.0, 0.00027261802460998297, 0.6169423703099364, 0.4573975442950782, 0.5895342448174508, 0.999901294708252, 0.47313907742500305, 0.22641241550445557, 0.07121199369430542, 0.040719612235370004, -0.01522352626322205], "mean": [-2.0811029583331133, -2.512988769573749, 0.7008535155949746, 0.0, 0.0, 0.924812030075188, 4.1644559294289657e-05, 0.34432803373049237, 0.2246523362013113, 0.2813005097133252, 0.4144817441029656, 0.06814236701291082, -0.011598205963673535, 0.027005510598027648, 0.03188424543903637, -0.03202740928192284], "std": [4.350207535371954e-06, 1.2426565497200403e-05, 0.0005042289658791005, 0.0, 0.0, 0.3804243801706324, 3.215187684054899e-05, 0.18304965226149633, 0.15673814850379272, 0.13459090703800136, 0.8770127643167774, 0.21674458303405245, 0.07893283267935276, 0.018376565265867933, 0.009994725634611528, 0.009247656755022798], "count": [665]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.14, -0.6371428571428571, -0.3914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8714285714285716, 1.0, 0.15142857142857147, 0.32857142857142857, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03313641245972071, 0.017024704618689587, -0.025230934479054768, -0.0017615467239527366, 0.0050741138560687505, -0.0015896885069817425, -0.2661654135338346], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.38472596691986033, 0.305926226519082, 0.35856168811869643, 0.03747193199208494, 0.10926768748566572, 0.09836497536812872, 0.9639273689642612], "count": [665]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024060150608420372], "std": [0.15323595702648163], "count": [665]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015037593984962407], "std": [0.03874916910293271], "count": [665]}, "timestamp": {"min": [0.0], "max": [33.2], "mean": [16.6], "std": [9.598437372822724], "count": [665]}, "frame_index": {"min": [0], "max": [664], "mean": [332.0], "std": [191.96874745645448], "count": [665]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [665]}, "index": {"min": [68763], "max": [69427], "mean": [69095.0], "std": [191.96874745645448], "count": [665]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [665]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5948844701334929]], [[0.5461534569642897]], [[0.5102031875256093]]], "std": [[[0.2502463233358173]], [[0.2722288992157991]], [[0.2983086505894369]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6096199985533061]], [[0.5900945782073495]], [[0.5713511927354699]]], "std": [[[0.2168074264427336]], [[0.21935516859352538]], [[0.22831395137967136]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5998208163318889]], [[0.5802479577268144]], [[0.5624486035966821]]], "std": [[[0.21531962880351774]], [[0.2168974364214739]], [[0.22475986936637227]]], "count": [163]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [897]}, "observation.state": {"min": [4.275662949922364, -3.466549595229811, 0.6999971021267414, 0.0, 0.0, -0.08885687589645386, 0.996044397354126, 0.00440823263288781, -0.19715982348670869, 0.04787943296739938, -0.9998061060905457, -0.6277062296867371, -0.2057865858078003, 5.0566035497467965e-05, -0.00022919434039159108, -0.04082183180839886], "max": [4.9232329914196455, -1.9197280742958094, 0.706490755608098, 0.0, 0.0, 0.01611541397869587, 1.0, 0.4777125252539349, 0.3215166177282047, 0.6218099746996315, 0.9928255677223206, 0.5892629623413086, 0.24135996401309967, 0.10555701702833176, 0.04005416172116805, -0.007185024637679795], "mean": [4.630980048101292, -2.6731719372896556, 0.7027350027883541, 0.0, 0.0, -0.02556905155005827, 0.9993211024315195, 0.21950109254405453, 0.021815915494710205, 0.3688533489960442, -0.14316428079785842, -0.002144613617838027, -0.000983825548913552, 0.03721707413119896, 0.027517915014038167, -0.028655661918339684], "std": [0.2924268560964456, 0.7002271236718761, 0.0020353612682543344, 0.0, 0.0, 0.02651395920140127, 0.0007505289173142071, 0.12100136664675819, 0.14674937371096025, 0.16179990287714427, 0.9504519162386698, 0.25142584874452933, 0.102719524251788, 0.031435817581500276, 0.01369432628832519, 0.013210938211231362], "count": [897]}, "action": {"min": [-1.0, -0.8, -0.4114285714285714, 0.0, -1.0, -1.0, -0.8785714285714286, -0.6571428571428571, -0.1742857142857143, -0.4028571428571428, -0.3914285714285714, -1.0], "max": [1.0, 1.0, 0.32571428571428573, 0.0, 1.0, 0.5428571428571429, 1.0, 1.0, 0.08, 0.3628571428571429, 0.41714285714285715, 1.0], "mean": [0.027584010192705847, 0.04788979136805225, -0.00637044115304985, 0.0, -0.6454849498327759, -0.02236024844720499, -0.014118490205446718, -0.017431119605032665, -0.0038795986622073607, 0.006281254976907153, -0.00032489249880554826, -0.16833890746934224], "std": [0.25746083514510987, 0.25546856215158226, 0.07113848987906271, 0.0, 0.7637729895324706, 0.2954542777135509, 0.22022564562736935, 0.3442119225178775, 0.022694541704905435, 0.07760120996479598, 0.10372141366560192, 0.9857291779348084], "count": [897]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01783723570406437], "std": [0.1323596090078354], "count": [897]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011148272017837235], "std": [0.03337041147624474], "count": [897]}, "timestamp": {"min": [0.0], "max": [44.8], "mean": [22.4], "std": [12.947071741002544], "count": [897]}, "frame_index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [897]}, "index": {"min": [69428], "max": [70324], "mean": [69876.0], "std": [258.9414348200509], "count": [897]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5681449928764787]], [[0.5377499910214324]], [[0.5252221054896064]]], "std": [[[0.2651216730996194]], [[0.254986946956923]], [[0.24770288755800215]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584809172176518]], [[0.5612601407246071]], [[0.5312183092523431]]], "std": [[[0.23607398857272824]], [[0.21271909697564448]], [[0.19780190907003567]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5952775063418578]], [[0.572859752774074]], [[0.5436654927442386]]], "std": [[[0.24023480254987617]], [[0.21764849051972068]], [[0.20395162891123247]]], "count": [213]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1280]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1280]}, "observation.state": {"min": [-1.4060968681840273, -3.993640273205941, 0.699998876599943, 0.0, 0.0, -1.0, 7.175970040407265e-08, 0.08492204505666257, -0.2858464082112875, 0.04292272409489151, -0.9984306693077087, -0.3484564423561096, -0.1557193249464035, 0.00038195596425794065, -0.0009052249613649872, -0.04076030336826767], "max": [2.8133645192914662, -1.2157097597777229, 0.7097406816222028, 0.0, 0.0, 1.0, 0.999994158744812, 0.6885065204157773, 0.26574590813403476, 0.6088239584018169, 0.9352998733520508, 0.7091507911682129, 0.24889516830444336, 0.18894168734550476, 0.04009884505613763, -0.01481072990330136], "mean": [0.3965505071256672, -1.9793390133568192, 0.7064614297910161, 0.0, 0.0, 0.07745122752403404, 0.5160168168805733, 0.2687719610487888, -0.12892491910577758, 0.34712801548955424, 0.31714327675290405, 0.31900183200777976, 0.005480901379323555, 0.04055734570167715, 0.024821683174619136, -0.027305975418689253], "std": [1.3075572387793686, 0.7652630295871039, 0.002686322252678124, 0.0, 0.0, 0.7289823969950254, 0.4430717904650787, 0.17232087500688867, 0.15078739424117749, 0.1234589813385138, 0.851741192798787, 0.2537768896088218, 0.0645358836639997, 0.04418579501315763, 0.011570700993935541, 0.01170720688460073], "count": [1280]}, "action": {"min": [-0.5410714285714286, -0.34285714285714286, -0.41571428571428576, 0.0, -1.0, -1.0, -0.6642857142857143, -0.7553571428571428, -0.10285714285714286, -0.24000000000000002, -0.06857142857142857, -1.0], "max": [0.7607142857142858, 1.0, 0.5228571428571429, 0.0, 1.0, 0.942857142857143, 0.6857142857142857, 0.7446428571428572, 0.1007142857142857, 0.24642857142857144, 0.17571428571428574, 1.0], "mean": [0.13913504464285734, 0.1931194196428572, 0.04037779017857156, 0.0, -0.15, -0.01595284598214284, 0.001552734374999999, -0.03467912946428569, 0.0015050223214285712, 0.0001791294642857185, 0.008469308035714284, 0.2125], "std": [0.2559501228376568, 0.30953555822746526, 0.22754778362772915, 0.0, 0.9886859966642674, 0.27693215701992807, 0.1563761226606468, 0.24865937114860742, 0.019680628626739496, 0.052212910451960956, 0.03001626390508379, 0.9771610665596581], "count": [1280]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012500000186264515], "std": [0.11110243201255798], "count": [1280]}, "next.done": {"min": [false], "max": [true], "mean": [0.00078125], "std": [0.02793992928476198], "count": [1280]}, "timestamp": {"min": [0.0], "max": [63.95], "mean": [31.975], "std": [18.47520297588094], "count": [1280]}, "frame_index": {"min": [0], "max": [1279], "mean": [639.5], "std": [369.5040595176188], "count": [1280]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1280]}, "index": {"min": [70325], "max": [71604], "mean": [70964.5], "std": [369.5040595176188], "count": [1280]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1280]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.541927517893008]], [[0.4463456924870643]], [[0.3724471956805726]]], "std": [[[0.2334102574256807]], [[0.25173056587265796]], [[0.2663514420719754]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49998209741796024]], [[0.41317355047487747]], [[0.3495141449971916]]], "std": [[[0.21554641914119965]], [[0.24908851676950888]], [[0.2742323598441161]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5233099756178513]], [[0.4419484427125885]], [[0.3796458112596167]]], "std": [[[0.2281158959216903]], [[0.2635740848592849]], [[0.2875298631753457]]], "count": [225]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1371]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1371]}, "observation.state": {"min": [4.128132475132189, -1.3967099111298886, 0.6999980695422079, 0.0, 0.0, 0.6934439539909363, 0.16496387124061584, 0.0310984684780502, -0.014331137918053294, -0.006275421039515394, -0.9962167143821716, -0.5923051834106445, -0.30810925364494324, 0.0001249624037882313, 0.0007691875416940956, -0.04097044097795102], "max": [4.601292476547759, -1.1017283579150485, 0.7187586190244262, 0.0, 0.0, 0.9862995743751526, 0.7205105423927307, 0.6786805300105696, 0.5420037220935816, 0.6118588253676135, 0.9963628649711609, 0.6573007702827454, 0.36503204703330994, 0.3290439546108246, 0.0408323530261265, -0.0011004882826111911], "mean": [4.409162910345796, -1.2171354927162508, 0.7082925153865484, 0.0, 0.0, 0.8498581312678314, 0.43334328688077906, 0.37480694581393975, 0.15729486822737515, 0.29838094202658944, -0.005296594595752608, -0.0002790578769385423, 0.004993731380585665, 0.08370106750928767, 0.0270073008475516, -0.028000896192852537], "std": [0.08002952558700752, 0.092822492455071, 0.005155880288310324, 0.0, 0.0, 0.13924916980586047, 0.26563964679246405, 0.1582089220932773, 0.16007842437422815, 0.15383212155930345, 0.9399175249727413, 0.2666784363218053, 0.18145651750226213, 0.07383935840271284, 0.013252949807572266, 0.01211170599581077], "count": [1371]}, "action": {"min": [-0.6571428571428571, -0.8500000000000001, -0.8285714285714287, 0.0, -1.0, -1.0, -1.0, -1.0, -0.19714285714285715, -0.31142857142857144, -0.3914285714285714, -1.0], "max": [0.6500000000000001, 1.0, 0.4542857142857143, 0.0, 1.0, 0.9857142857142858, 1.0, 1.0, 0.4828571428571429, 0.34, 0.36, 1.0], "mean": [0.008038970511618213, -0.009258101490048975, 0.0020548087944149184, 0.0, -0.7301239970824216, -0.005209961446285294, -0.0016098780869021904, -0.05191205585078672, 0.004757736792747735, -0.00020423048869438627, 0.0047952485151609775, 0.028446389496717725], "std": [0.09744583839783627, 0.1484404115980111, 0.12373124268755031, 0.0, 0.6833146777908312, 0.2834374875043195, 0.29309418636723555, 0.33338242012884695, 0.055479561039921826, 0.0697067024546721, 0.08619949315261094, 0.9995953195791678], "count": [1371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011670313775539398], "std": [0.10739700496196747], "count": [1371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007293946024799417], "std": [0.02699745517625346], "count": [1371]}, "timestamp": {"min": [0.0], "max": [68.5], "mean": [34.25], "std": [19.788675212521596], "count": [1371]}, "frame_index": {"min": [0], "max": [1370], "mean": [685.0], "std": [395.7735042504319], "count": [1371]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1371]}, "index": {"min": [71605], "max": [72975], "mean": [72290.0], "std": [395.7735042504319], "count": [1371]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1371]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6105160337626804]], [[0.5566736193555113]], [[0.520627502308432]]], "std": [[[0.2555084073270557]], [[0.25962185825724887]], [[0.2518870436939293]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6300830370668232]], [[0.6326295490472664]], [[0.6091142309517124]]], "std": [[[0.18343983518618545]], [[0.18399056734337216]], [[0.17936987645818933]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6510411347698802]], [[0.6565524397041802]], [[0.632437553455627]]], "std": [[[0.17867459226688218]], [[0.18387837211964936]], [[0.17805341340777067]]], "count": [225]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1371]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1371]}, "observation.state": {"min": [4.114040318985787, -2.9054248077103817, 0.6999974853346559, 0.0, 0.0, -0.7071766257286072, 0.7070369720458984, 0.014937576749341375, 0.006457369923872136, -0.0028450578365724066, -0.9997184872627258, -0.40863385796546936, -0.301144540309906, 5.9244233852950856e-05, 0.01606030035200608, -0.040063623756579375], "max": [4.980752560118986, -1.482970107979298, 0.7173937090500024, 0.0, 0.0, 0.2293958067893982, 1.0, 0.4080066352257665, 0.37521954893553155, 0.6366114712915022, 0.9985042810440063, 0.5564767122268677, 0.1712561994791031, 0.2281549721956253, 0.04060027333590862, -0.005121355168904036], "mean": [4.650282215796656, -2.3506253952858525, 0.7117702468712019, 0.0, 0.0, -0.19750745863475233, 0.960907422739776, 0.19951328844753277, 0.1241031602465345, 0.3696836937920352, -0.45597892212746005, 0.03685232089529457, -0.04363027549568526, 0.04891359123915883, 0.03097418403462032, -0.029487735485920874], "std": [0.2840681717422528, 0.5696511265783869, 0.005910134118424165, 0.0, 0.0, 0.1848994561168422, 0.058821168983625965, 0.104913746638472, 0.08450125460130052, 0.14745963279782257, 0.8509698225499812, 0.22754991535375216, 0.09152547219908977, 0.04608112882252632, 0.010164823390776324, 0.011708866415016], "count": [1371]}, "action": {"min": [-1.0, -1.0, -0.64, 0.0, -1.0, -1.0, -1.0, -0.6428571428571428, -0.3342857142857143, -0.29714285714285715, -0.43428571428571433, -1.0], "max": [1.0, 1.0, 0.9199999999999999, 0.0, 1.0, 0.6785714285714286, 1.0, 1.0, 0.3314285714285714, 0.4542857142857143, 0.3857142857142858, 1.0], "mean": [0.08096801083671983, -0.04151297280400128, 0.008406793789725942, 0.0, -0.42815463165572576, -0.007215796603105135, 0.012644576430134407, -0.007611753673022807, 0.0001396269667604466, -0.0004001250390747046, 0.001623423986662495, -0.15098468271334792], "std": [0.32006592132401596, 0.31341013573093324, 0.16967945938754786, 0.0, 0.9037054893004368, 0.22509930699525585, 0.2038779343824785, 0.3365814054944006, 0.05118170554238496, 0.07697650361041126, 0.08470372195809113, 0.9885361023179451], "count": [1371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011670313775539398], "std": [0.10739700496196747], "count": [1371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007293946024799417], "std": [0.02699745517625346], "count": [1371]}, "timestamp": {"min": [0.0], "max": [68.5], "mean": [34.25], "std": [19.788675212521596], "count": [1371]}, "frame_index": {"min": [0], "max": [1370], "mean": [685.0], "std": [395.7735042504319], "count": [1371]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1371]}, "index": {"min": [72976], "max": [74346], "mean": [73661.0], "std": [395.7735042504319], "count": [1371]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1371]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4281185291527648]], [[0.3753914482101999]], [[0.3479665383316554]]], "std": [[[0.1482868433850322]], [[0.16617618244751833]], [[0.18088971928579792]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41975291525710945]], [[0.3852011146100081]], [[0.3694765798496738]]], "std": [[[0.1851790409729652]], [[0.20157519362116072]], [[0.21225865838869273]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4277507682972372]], [[0.3851156384121003]], [[0.36375522745394673]]], "std": [[[0.19416014071491017]], [[0.20699374213108498]], [[0.21657682647381285]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [968]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [968]}, "observation.state": {"min": [4.503993593303254, -6.314635670388276, 0.6999920202893984, 0.0, 0.0, -0.6344203352928162, 0.7729882001876831, 0.030639341851358637, -0.5070223670372096, 0.0032839456457589566, -0.9872495532035828, -0.4467371702194214, -0.28533607721328735, 9.9885743111372e-05, 0.003150692612845254, -0.04146342459090499], "max": [4.922484048949844, -5.711903759662494, 0.7093524731436895, 0.0, 0.0, 0.042420245707035065, 1.0, 0.7434414252659227, 0.007309817828655696, 0.6339366621120338, 0.9967750906944275, 0.44641321897506714, 0.4083373248577118, 0.17546916007995605, 0.04088799950908996, -0.013056653209778267], "mean": [4.82433319301421, -5.829075099941647, 0.704946619030945, 0.0, 0.0, -0.2597741015573068, 0.9063936136355085, 0.2935538628135386, -0.15947977914882516, 0.351399295037573, 0.04360333355990323, 0.0633518674510939, -0.007854704394875707, 0.0449306070746268, 0.0327229422592086, -0.03386968150179091], "std": [0.0991040753842237, 0.1405117078873084, 0.003238545814493245, 0.0, 0.0, 0.31548442795453185, 0.10694675749433405, 0.16873158569026558, 0.13680731425682185, 0.15381779537307164, 0.9433843982067092, 0.24638747680352363, 0.2004038161948071, 0.03409154313712394, 0.011147510480330646, 0.010350458767040082], "count": [968]}, "action": {"min": [-0.8857142857142857, -0.23571428571428574, -0.4942857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.29428571428571426, -0.40571428571428575, -0.3, -1.0], "max": [0.5142857142857143, 1.0, 0.7171428571428572, 0.0, 1.0, 0.6071428571428572, 0.75, 1.0, 0.1657142857142857, 0.38857142857142857, 0.35714285714285715, 1.0], "mean": [0.00019923258559622446, 0.04315968122786304, 0.0010684769775678854, 0.0, -0.6632231404958677, -0.021221959858323477, 0.0007674144037780307, -0.05222107438016523, -0.006768004722550172, -0.010227272727272732, 0.0033175914994096794, -0.20454545454545456], "std": [0.10286528168352986, 0.16374411254747503, 0.15962768242860698, 0.0, 0.7484217166215924, 0.30762496056139926, 0.24567656703182272, 0.3444608887577085, 0.043580218383913454, 0.07851559006519379, 0.088408028977322, 0.9788570666980911], "count": [968]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01652892492711544], "std": [0.12749792635440826], "count": [968]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010330578512396695], "std": [0.03212461116831862], "count": [968]}, "timestamp": {"min": [0.0], "max": [48.35], "mean": [24.175], "std": [13.971869058934098], "count": [968]}, "frame_index": {"min": [0], "max": [967], "mean": [483.5], "std": [279.43738117868196], "count": [968]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [968]}, "index": {"min": [74347], "max": [75314], "mean": [74830.5], "std": [279.43738117868196], "count": [968]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [968]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6220578673119638]], [[0.5798867735021255]], [[0.5414858551025391]]], "std": [[[0.24529058675546134]], [[0.24098176419550943]], [[0.23242207012702254]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6038853355856503]], [[0.594846425374349]], [[0.5695671461516736]]], "std": [[[0.19617435020475968]], [[0.19329094876943032]], [[0.18781795823714764]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5949855998918121]], [[0.5845505356134152]], [[0.5589624926997167]]], "std": [[[0.21782950763581432]], [[0.2141078577160249]], [[0.20749012580470833]]], "count": [200]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1175]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1175]}, "observation.state": {"min": [1.049364296848276, -3.8792784042127697, 0.6999918041930255, 0.0, 0.0, -0.7747342586517334, 0.6322869658470154, -0.0014956408775697039, -0.351865648931208, 0.004702374833556067, -0.997662365436554, -0.5260043144226074, -0.4311031699180603, 0.00012621315545402467, 0.008632364539321705, -0.041199731125587516], "max": [2.9144052658415065, -0.9892747421500802, 0.7080675014948157, 0.0, 0.0, 0.7641695141792297, 0.9999998807907104, 0.5137940873620163, 0.05489481537559682, 0.6020617813020465, 0.9965174794197083, 0.9985613822937012, 0.4505196809768677, 0.33487358689308167, 0.04022305309062794, 0.0005337234721315469], "mean": [1.482874860070719, -2.5054281613227363, 0.7036277280927687, 0.0, 0.0, -0.033713621171909645, 0.7483562600359004, 0.2337269529019536, -0.08555891761191887, 0.3683704382885644, -0.4881265606329915, 0.2594510119202289, -0.07957219726579422, 0.057998718411904425, 0.024661353204991108, -0.024058598877372318], "std": [0.3996158010648879, 1.288815960456274, 0.002587157296018241, 0.0, 0.0, 0.6572161799333809, 0.08302525632708782, 0.11372263805652928, 0.08457810817287902, 0.14691428078847968, 0.7097933921668497, 0.38361586454351415, 0.17271936923444145, 0.06262807549319796, 0.013157113062305534, 0.013517650619610461], "count": [1175]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.942857142857143, -1.0, -0.22, -0.35714285714285715, -0.30285714285714294, -1.0], "max": [1.0, 0.8428571428571429, 0.6085714285714285, 0.0, 1.0, 0.9357142857142857, 0.9285714285714287, 1.0, 0.2285714285714286, 0.6514285714285715, 0.34, 1.0], "mean": [0.029556231003039495, -0.08413373860182363, -0.03942127659574468, 0.0, -0.49957446808510636, -0.005440729483282698, 0.006875379939209726, -0.01841945288753796, -0.0003768996960486313, 0.002883890577507599, 0.027353191489361703, 0.13531914893617022], "std": [0.3432982006464965, 0.3089063298622542, 0.21660961228123918, 0.0, 0.8662709453961167, 0.2970156435508535, 0.20896581278670745, 0.313072018761148, 0.04283975762406565, 0.09143339261685476, 0.10769305159846242, 0.9908020629425397], "count": [1175]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013617021031677723], "std": [0.11589475721120834], "count": [1175]}, "next.done": {"min": [false], "max": [true], "mean": [0.000851063829787234], "std": [0.029160581615339257], "count": [1175]}, "timestamp": {"min": [0.0], "max": [58.7], "mean": [29.35], "std": [16.959658015420004], "count": [1175]}, "frame_index": {"min": [0], "max": [1174], "mean": [587.0], "std": [339.1931603084001], "count": [1175]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1175]}, "index": {"min": [75315], "max": [76489], "mean": [75902.0], "std": [339.1931603084001], "count": [1175]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1175]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4861266294154909]], [[0.393735966442373]], [[0.34492037871683723]]], "std": [[[0.24256302191676968]], [[0.17002436777937446]], [[0.1854708579604816]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6214300152202985]], [[0.5304130588970174]], [[0.46815471315611334]]], "std": [[[0.20644899206284603]], [[0.22158911316610125]], [[0.23085744019635257]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6069049259867059]], [[0.5153695492726756]], [[0.45441563285338415]]], "std": [[[0.190428314758001]], [[0.2122353424586643]], [[0.22454536935608815]]], "count": [185]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1061]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1061]}, "observation.state": {"min": [4.298910694053532, -1.5076332077974788, 0.6999959327719392, 0.0, 0.0, 0.7069189548492432, 0.4198683202266693, 0.03282466306792253, -0.3050692391223224, 0.00955030731062112, -0.9997707009315491, -0.5870006084442139, -0.17747968435287476, 8.86917860043468e-06, 0.010743806636779684, -0.0400064153624006], "max": [5.2948877006875685, -0.964707743400944, 0.7027990320074813, 0.0, 0.0, 0.9075850248336792, 0.7072945237159729, 0.7275400495417368, 0.1184561924183245, 0.6091304169597117, 0.9996510148048401, 0.6812974810600281, 0.2717468738555908, 0.14268578588962555, 0.04035397911173941, -0.0077189075321074715], "mean": [4.697407935608658, -1.2337849909282537, 0.7010231205605647, 0.0, 0.0, 0.7810524941389567, 0.6112548567628546, 0.38733192077310524, -0.04690967627295921, 0.3481512716724728, -0.5659063873596623, 0.27294641932074076, -0.016913021165230437, 0.047926156272037064, 0.030410118778836658, -0.029453607246138918], "std": [0.4031163322122249, 0.25115321744070745, 0.0008469753231242687, 0.0, 0.0, 0.07753863325205951, 0.1015492063964037, 0.17549382765696533, 0.10599048057852119, 0.15080509879906173, 0.698956512584611, 0.32119187269531896, 0.09608763640679341, 0.041593165129652505, 0.012036379971206197, 0.012443938412080155], "count": [1061]}, "action": {"min": [-1.0, -1.0, -0.4628571428571429, 0.0, -1.0, -1.0, -0.75, -0.55, -0.2257142857142857, -0.4828571428571429, -0.35428571428571426, -1.0], "max": [0.8, 1.0, 0.40571428571428575, 0.0, 1.0, 0.7071428571428572, 1.0, 1.0, 0.10857142857142858, 0.5371428571428571, 0.34, 1.0], "mean": [0.02424936044163188, -0.03705399219065571, 0.012252591894439209, 0.0, -0.7360980207351555, -0.012764238588932266, -0.008287330012117957, -0.003796957048606426, -0.002210852295677933, 0.002156994748889186, -0.009443920829406217, -0.21017907634307256], "std": [0.16542543362065276, 0.20981073959894456, 0.07358107183428766, 0.0, 0.6768749543821191, 0.3422764103375251, 0.2133040168986039, 0.32794093858879053, 0.036849700327998634, 0.08824112137287042, 0.08472809350405892, 0.9776629050278879], "count": [1061]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015080112963914871], "std": [0.12187165766954422], "count": [1061]}, "next.done": {"min": [false], "max": [true], "mean": [0.000942507068803016], "std": [0.0306858069672002], "count": [1061]}, "timestamp": {"min": [0.0], "max": [53.0], "mean": [26.5], "std": [15.31420908829444], "count": [1061]}, "frame_index": {"min": [0], "max": [1060], "mean": [530.0], "std": [306.2841817658888], "count": [1061]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1061]}, "index": {"min": [76490], "max": [77550], "mean": [77020.0], "std": [306.2841817658888], "count": [1061]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1061]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.482314661425168]], [[0.415817078489318]], [[0.378888181544383]]], "std": [[[0.2023201256057567]], [[0.19775317633708156]], [[0.19761071550930198]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39696414863912016]], [[0.35199446276672436]], [[0.33112018081174205]]], "std": [[[0.19714561409490622]], [[0.21109236836574144]], [[0.219023910455663]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42188794699354415]], [[0.3831695951652209]], [[0.3651239078594571]]], "std": [[[0.21340165597224836]], [[0.22380625586363212]], [[0.23053828606580523]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [819]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [819]}, "observation.state": {"min": [1.3496166909022467, -1.1485896437592438, 0.6999940789114745, 0.0, 0.0, 0.7071037888526917, 0.217701718211174, 0.12393634861728109, -0.43199692024038305, 0.04874784256921316, -0.9989262223243713, -0.2472015619277954, -0.1306564062833786, 1.928458732436411e-05, 0.013086519148817633, -0.04054802845745919], "max": [1.5559331725217591, -0.9153668868873066, 0.7046536120479406, 0.0, 0.0, 0.9760153293609619, 0.7071097493171692, 0.5738026984573001, 0.32403231113742287, 0.5884453865450192, 0.9758525490760803, 0.600349485874176, 0.18919961154460907, 0.1597311794757843, 0.040291123331017024, -0.0024987371371945843], "mean": [1.4918904993762592, -0.9300356808733083, 0.70182923971239, 0.0, 0.0, 0.9643408525848854, 0.24414127290030538, 0.3122966193339038, -0.06630694849262793, 0.3055433082513675, -0.8506410107362256, 0.29034688849552504, 0.017545406389083164, 0.04126116907787675, 0.032600649066155285, -0.03195772544250492], "std": [0.024390435372178446, 0.04559992432387975, 0.001754287399923103, 0.0, 0.0, 0.044510423881902246, 0.09198139401912588, 0.112889908377068, 0.20607420121262515, 0.14946899254654217, 0.35604979248221286, 0.23317379054942633, 0.08900049189335985, 0.032181824583578295, 0.010876654585617736, 0.011399147001164076], "count": [819]}, "action": {"min": [-0.7017857142857142, -0.5785714285714285, 0.0, 0.0, -1.0, -0.6375000000000001, -0.6375000000000001, -0.8142857142857143, -0.1457142857142857, -0.10714285714285715, -0.2828571428571429, -1.0], "max": [0.10714285714285715, 0.0, 0.41571428571428576, 0.0, 1.0, 0.675, 0.6214285714285714, 0.8089285714285713, 0.09428571428571429, 0.2571428571428572, 0.12428571428571428, 1.0], "mean": [-0.014109105180533748, -0.04315803244374674, 0.02970434327577181, 0.0, -0.7313797313797313, 0.003591051805337503, -0.010688121402407097, -0.02341705913134485, 6.80272108843531e-05, 0.0074882260596546265, 9.4191522762947e-05, -0.3968253968253968], "std": [0.08362807144065741, 0.1257261115517355, 0.08855868549881915, 0.0, 0.6819704454937318, 0.30162775752813725, 0.2133428679110625, 0.2751137122409783, 0.024853368436616435, 0.040502611866829456, 0.06650926959653967, 0.9178941139556199], "count": [819]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01953602023422718], "std": [0.13839928805828094], "count": [819]}, "next.done": {"min": [false], "max": [true], "mean": [0.001221001221001221], "std": [0.03492148875720413], "count": [819]}, "timestamp": {"min": [0.0], "max": [40.9], "mean": [20.450000000000003], "std": [11.821237949837007], "count": [819]}, "frame_index": {"min": [0], "max": [818], "mean": [409.0], "std": [236.42475899674017], "count": [819]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [819]}, "index": {"min": [77551], "max": [78369], "mean": [77960.0], "std": [236.42475899674017], "count": [819]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [819]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5973722284806683]], [[0.5357476494924369]], [[0.49305793877013243]]], "std": [[[0.21798616484367736]], [[0.24368949179571228]], [[0.2619542194407027]]], "count": [172]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.027450980392156862]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6922078805376393]], [[0.6543061847399751]], [[0.6227225735477807]]], "std": [[[0.15661705905393844]], [[0.17261369934364448]], [[0.19617046955127437]]], "count": [172]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6808598432701797]], [[0.6405451975073164]], [[0.6073835339004788]]], "std": [[[0.16484148024588932]], [[0.1762681906127478]], [[0.19712459960852316]]], "count": [172]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [960]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [960]}, "observation.state": {"min": [2.9150078271614195, -1.6381043378209097, 0.6999899285678771, 0.0, 0.0, 0.6978373527526855, 7.468050171155483e-05, 0.05859363128558037, -0.3808911340029708, 0.00955840663341001, -0.9973040819168091, -0.7135162949562073, -0.2330664098262787, 0.00012300291564315557, -0.0006099375868710133, -0.040912524152237194], "max": [3.4519232311260373, -0.7557498808951684, 0.7056242357397201, 0.0, 0.0, 1.0, 0.716256320476532, 0.6523969664256315, 0.13479364063030408, 0.5941853755717788, 0.9875460863113403, 0.7194414734840393, 0.2807612419128418, 0.2188785821199417, 0.040132600449288625, -0.013636385487199792], "mean": [3.1849608160051175, -1.2768031624774765, 0.7016678320105376, 0.0, 0.0, 0.8797148968403538, 0.3082616437459516, 0.31014700940657186, -0.09591346626739942, 0.3107263423458912, -0.8343665622795622, 0.04101835262651245, -0.029455943902151678, 0.05461698829641743, 0.02667541438855987, -0.028107838097508116], "std": [0.2198585669987009, 0.4062020848160404, 0.0017179999781905331, 0.0, 0.0, 0.14291840434790637, 0.3326421549017152, 0.14419660806228812, 0.12399627907310597, 0.14805362855314153, 0.4260651663152108, 0.3137163036571742, 0.12689599910267998, 0.04740495439211956, 0.012140960536714988, 0.011282124450780112], "count": [960]}, "action": {"min": [-0.9285714285714287, -0.36428571428571427, -0.9228571428571428, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.29714285714285715, -0.3857142857142858, -0.3457142857142857, -1.0], "max": [1.0, 1.0, 0.19428571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2, 0.3857142857142858, 0.4371428571428572, 1.0], "mean": [0.03574404761904761, 0.016086309523809527, -0.02808333333333333, 0.0, -0.7333333333333333, -0.014352678571428587, -0.01104910714285714, -0.00633928571428569, 0.0022797619047618986, 0.004562500000000005, 0.006619047619047623, 0.0625], "std": [0.19956425524470228, 0.11977892844872978, 0.1319323285402755, 0.0, 0.6798692684790397, 0.3901408336621714, 0.254524313160549, 0.3605894593364101, 0.04758887101877172, 0.08316849295015769, 0.09546946894758403, 0.998044963916957], "count": [960]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01770833320915699], "std": [0.13188914954662323], "count": [960]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010416666666666667], "std": [0.03225804701500421], "count": [960]}, "timestamp": {"min": [0.0], "max": [47.95], "mean": [23.975], "std": [13.856398942967349], "count": [960]}, "frame_index": {"min": [0], "max": [959], "mean": [479.5], "std": [277.12797885934697], "count": [960]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [960]}, "index": {"min": [78370], "max": [79329], "mean": [78849.5], "std": [277.12797885934697], "count": [960]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [960]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4817365370717876]], [[0.3975295459061205]], [[0.3371656685180221]]], "std": [[[0.22199623255405374]], [[0.21939813876856223]], [[0.2497764233775834]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5413994103244476]], [[0.5015080042192417]], [[0.4499922051264685]]], "std": [[[0.22712689610612186]], [[0.23151194618532958]], [[0.23484749503457883]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059219984591541]], [[0.47213829444990524]], [[0.42498525759406774]]], "std": [[[0.23211020113523986]], [[0.2323119568461317]], [[0.22770855010553695]]], "count": [162]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [886]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [886]}, "observation.state": {"min": [3.8767183625699184, -2.126363023456122, 0.6999972081413753, 0.0, 0.0, -0.7246414422988892, 0.6891260743141174, -0.18688264049258452, -0.0028825600166810794, 0.013127548780229814, -0.9996283650398254, -0.5646786093711853, -0.3387443721294403, 3.686740092234686e-05, 0.013097648590381886, -0.04001198915355982], "max": [4.1674513757679, -1.925548558496156, 0.7015519380083011, 0.0, 0.0, -0.7071046829223633, 0.7071088552474976, 0.43856881732617126, 0.8074715598958511, 0.5961909456493406, 0.9994612336158752, 0.573180615901947, 0.3976597785949707, 0.2589782476425171, 0.0408872330961307, -0.007480526585470882], "mean": [3.8885900096793216, -2.1126970691069054, 0.7006907950024156, 0.0, 0.0, -0.7121048154599511, 0.7020667006280568, 0.15437230247006387, 0.48553465691850495, 0.30595666097348606, -0.5892543234351526, 0.0988296049522997, -0.0014329040964215765, 0.08325399259249136, 0.03346566665113315, -0.0326739047169675], "std": [0.04385857111155932, 0.04474171945470579, 0.0006544156348481013, 0.0, 0.0, 0.0021005418830476476, 0.0021584398927153264, 0.17758827345770406, 0.23089624809335169, 0.16269159514802534, 0.7358136650835848, 0.2665236182424839, 0.14062663355290897, 0.06201881865394493, 0.00991841268667665, 0.010514563806022437], "count": [886]}, "action": {"min": [-0.16607142857142856, -0.6535714285714286, -0.1157142857142857, 0.0, -1.0, -0.8410714285714286, -0.9107142857142857, -0.6428571428571429, -0.14785714285714285, -0.18, -0.3514285714285715, -1.0], "max": [0.6160714285714286, 0.0, 0.09428571428571429, 0.0, 1.0, 0.7232142857142858, 1.0, 0.7339285714285714, 0.2357142857142857, 0.18, 0.15642857142857142, 1.0], "mean": [0.01590212834569494, -0.017836988068365044, -0.00015720735246694607, 0.0, -0.7923250564334086, -0.017268623024830718, 0.011290712673331151, -0.028490809416317365, 0.00855207997420188, -0.006181876813930993, -0.003226378587552405, -0.42437923250564336], "std": [0.08833743519271574, 0.08433513981400753, 0.014916192266192192, 0.0, 0.6100991763211898, 0.2570777080893237, 0.36397395069347876, 0.22976130755557253, 0.06117607710148121, 0.05689707661739521, 0.06838060475882729, 0.9054845481939016], "count": [886]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016930023208260536], "std": [0.12900929152965546], "count": [886]}, "next.done": {"min": [false], "max": [true], "mean": [0.001128668171557562], "std": [0.033576692507095975], "count": [886]}, "timestamp": {"min": [0.0], "max": [44.25], "mean": [22.125], "std": [12.788300317086708], "count": [886]}, "frame_index": {"min": [0], "max": [885], "mean": [442.5], "std": [255.76600634173417], "count": [886]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [886]}, "index": {"min": [79330], "max": [80215], "mean": [79772.5], "std": [255.76600634173417], "count": [886]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [886]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504932192555399]], [[0.4935670807388668]], [[0.48838194777229865]]], "std": [[[0.28439586674979594]], [[0.2671344361281826]], [[0.250593802102531]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394804042190221]], [[0.5361942767604831]], [[0.5347643857154807]]], "std": [[[0.2799852526693539]], [[0.26464884731753835]], [[0.24397367587799643]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5583512840625302]], [[0.5467840806864609]], [[0.533924254741216]]], "std": [[[0.263097664109236]], [[0.24975011365042954]], [[0.23529511425346075]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [815]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [815]}, "observation.state": {"min": [4.3401136797075806, -3.565785817415521, 0.6999989480089683, 0.0, 0.0, -0.683655858039856, 0.7298046350479126, 0.06159778007907768, -0.28528883653853576, 0.04307918014641787, -0.9990517497062683, -0.34510084986686707, -0.38314518332481384, 8.801431249594316e-05, 0.008726554430200737, -0.040841627091544354], "max": [4.922113426316975, -2.130169979595978, 0.7084497891051653, 0.0, 0.0, 2.5044346330105327e-06, 1.0, 0.42263626710645497, 0.36160299905678883, 0.6082170889561812, 0.9990636706352234, 0.4226738214492798, 0.4003974199295044, 0.1510881781578064, 0.040679631754864484, -0.017223710661544857], "mean": [4.736052092651233, -2.615643582666323, 0.7053333648656239, 0.0, 0.0, -0.29909385338630784, 0.8915722188042716, 0.2831911825105668, 0.019026324001973308, 0.36224101964602085, -0.17554142460501268, 0.09279013084122008, 0.010352060114369375, 0.047535737122341555, 0.03346524721294707, -0.03333145443334759], "std": [0.1760107204996421, 0.43126556190576854, 0.0029667187778657897, 0.0, 0.0, 0.3154494767018575, 0.12701770811069854, 0.08592007622939915, 0.17368226405830162, 0.15281560460403135, 0.9332892403769139, 0.21806751716835568, 0.19632843974845182, 0.0328828730860956, 0.009529456746002295, 0.008970106382486825], "count": [815]}, "action": {"min": [-0.7714285714285714, -0.8, -0.6514285714285715, 0.0, -1.0, -1.0, -1.0, -0.7642857142857143, -0.12857142857142856, -0.5971428571428572, -0.5228571428571429, -1.0], "max": [1.0, 1.0, 0.8542857142857143, 0.0, 1.0, 1.0, 0.9714285714285714, 1.0, 0.2857142857142857, 0.76, 0.23714285714285716, 1.0], "mean": [0.03199824715162138, 0.07235758106923751, -0.0002944785276073625, 0.0, -0.5435582822085889, -0.011980718667835235, 0.006152497808939562, -0.020227870289219983, 0.003954425942156004, -0.0021489921121822957, -0.0011218229623137623, -0.3202453987730061], "std": [0.2071689088684309, 0.23434216917462683, 0.18309623234120923, 0.0, 0.8393714278211102, 0.2982527191680447, 0.2867432536855955, 0.4026663954526151, 0.040817340263519214, 0.10985987335718259, 0.0732613492872856, 0.9473346212214115], "count": [815]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019631901755928993], "std": [0.1387317180633545], "count": [815]}, "next.done": {"min": [false], "max": [true], "mean": [0.001226993865030675], "std": [0.03500697574892541], "count": [815]}, "timestamp": {"min": [0.0], "max": [40.7], "mean": [20.35], "std": [11.763502879669813], "count": [815]}, "frame_index": {"min": [0], "max": [814], "mean": [407.0], "std": [235.27005759339627], "count": [815]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [815]}, "index": {"min": [80216], "max": [81030], "mean": [80623.0], "std": [235.27005759339627], "count": [815]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [815]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4020401709899342]], [[0.3802059524729207]], [[0.3732187886267115]]], "std": [[[0.19300441439874894]], [[0.15225917117435186]], [[0.18960419725880365]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4572486095562956]], [[0.4160563829013556]], [[0.390955373638208]]], "std": [[[0.19559719273707868]], [[0.20068861902866839]], [[0.21090913232453462]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4404269974254518]], [[0.40826915857769563]], [[0.39071718265869115]]], "std": [[[0.20267278889503756]], [[0.20788243729949465]], [[0.21706863884541602]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1197]}, "observation.state": {"min": [0.852813084122525, -3.441776057956112, 0.6999944201297305, 0.0, 0.0, -1.0, 9.015195701067569e-08, -0.03384557614627104, -0.37437293957235984, -0.0012081584704908277, -0.996006429195404, -0.5981142520904541, -0.614766001701355, 0.00014066587027627975, 0.0027935987754727984, -0.041639062255873674], "max": [2.954092771966633, -1.4116401314663867, 0.7115808657743051, 0.0, 0.0, 1.0, 0.9999960660934448, 0.46643327922529876, 0.3144772298862768, 0.75537530829553, 0.9855539798736572, 0.9827300310134888, 0.263018935918808, 0.29426148533821106, 0.0412163498204527, -0.008947939122136322], "mean": [1.9371455957021082, -2.477170391704239, 0.7069535665298006, 0.0, 0.0, 0.055744701956959755, 0.6279676035175474, 0.23813374515944183, -0.013785176550464961, 0.44984281521418074, -0.042848864606050224, 0.2995658311292641, -0.017826095495135513, 0.10684072075241431, 0.027534028611588688, -0.02880922961073229], "std": [0.8933127937538051, 0.6577653505533233, 0.004064474158432502, 0.0, 0.0, 0.7536180812163308, 0.18603495399859427, 0.14578169671711447, 0.16151196926109587, 0.1624891505640623, 0.8258099792871763, 0.4205248419185722, 0.16798703261872533, 0.09832938657676416, 0.013938630885085708, 0.013380040956252136], "count": [1197]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.28, -0.7257142857142858, -0.98, -1.0], "max": [1.0, 1.0, 0.8142857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.32857142857142857, 0.39714285714285713, 0.5342857142857143, 1.0], "mean": [0.11102756892230582, -0.09267812388113139, 0.07301348609619289, 0.0, -0.43358395989974935, -0.027049767275331194, 0.006355173648406749, -0.03053467000835421, -0.0010192147034252261, -0.02253490870032223, -0.004014798902016945, -0.17794486215538846], "std": [0.3095879018283283, 0.3239958110841351, 0.21174050631717992, 0.0, 0.9011131725358578, 0.3014142323669071, 0.29182052348344417, 0.3511932265847393, 0.055745088559947295, 0.11823086163898168, 0.171323086611365, 0.9840404595505783], "count": [1197]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024227235466241837], "std": [0.15375395119190216], "count": [1197]}, "next.done": {"min": [false], "max": [true], "mean": [0.000835421888053467], "std": [0.02889158975069437], "count": [1197]}, "timestamp": {"min": [0.0], "max": [59.8], "mean": [29.900000000000002], "std": [17.27720077636035], "count": [1197]}, "frame_index": {"min": [0], "max": [1196], "mean": [598.0], "std": [345.544015527207], "count": [1197]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1197]}, "index": {"min": [81031], "max": [82227], "mean": [81629.0], "std": [345.544015527207], "count": [1197]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617322022954914]], [[0.5178144596485577]], [[0.46917209647243546]]], "std": [[[0.2792613370963989]], [[0.2594467729039367]], [[0.2719565593424464]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6875137444476233]], [[0.6422570853970928]], [[0.5830115127025713]]], "std": [[[0.22247337935367129]], [[0.213485432202426]], [[0.22231875004250953]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6848871254789574]], [[0.6431696478073587]], [[0.5897055174561017]]], "std": [[[0.23939410140176928]], [[0.22959036618962872]], [[0.23454311550403367]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [825]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [825]}, "observation.state": {"min": [0.7457546667021455, -3.3294397856826166, 0.6999989185510899, 0.0, 0.0, -1.0, 5.593668538494967e-05, -0.011677629809432322, -0.14560703225305982, 0.00854747619350582, -0.9998396635055542, -0.31137901544570923, -0.24478794634342194, 7.312565139727667e-05, 0.012814592001729358, -0.04005551974871741], "max": [1.4251362555466247, -0.9868089428984059, 0.7046482384976839, 0.0, 0.0, 1.0, 0.7377291321754456, 0.39246953366167314, -0.01083498326374821, 0.6118535757967956, 0.9503347873687744, 0.637157678604126, 0.12087824195623398, 0.11884593218564987, 0.040721128095475456, -0.007082317007297978], "mean": [1.0526618827657384, -1.6893478976422804, 0.7020451594904128, 0.0, 0.0, 0.25931457830197885, 0.30624185333730014, 0.21188138718195274, -0.09948758566441475, 0.34533830527445136, -0.80486442602042, 0.3379040153279449, -0.07238347691843183, 0.05461202090892722, 0.02813913041629185, -0.02710484914227228], "std": [0.2888205383743439, 0.8349001877438333, 0.0013806266671783582, 0.0, 0.0, 0.8536987720807155, 0.33191911345946545, 0.08976458822736284, 0.027128070292153663, 0.1417255900329701, 0.39200502324930175, 0.2561451204232091, 0.09872447770186134, 0.027703974767627315, 0.011486301925885968, 0.011938789094022632], "count": [825]}, "action": {"min": [-1.0, -0.9375, -0.17357142857142857, 0.0, -1.0, -1.0, -0.35357142857142865, -0.9214285714285715, -0.12214285714285715, -0.3064285714285715, -0.2442857142857143, -1.0], "max": [0.5571428571428572, 1.0, 0.51, 0.0, 1.0, 0.7607142857142858, 0.7446428571428572, 1.0, 0.0642857142857143, 0.31714285714285717, 0.20357142857142857, 1.0], "mean": [0.025266233766233766, -0.022298701298701328, 0.0351532467532467, 0.0, -0.28, -0.015809523809523808, -0.01370129870129871, -0.005705627705627707, -0.0021142857142857144, 0.0070519480519480576, -0.005649350649350649, 0.025454545454545455], "std": [0.2077707927276514, 0.3687334900152084, 0.12441616039776542, 0.0, 0.9600000000000057, 0.3071362204390541, 0.07468475378076078, 0.353591583997459, 0.015455757673728294, 0.05303078787657133, 0.05918024928881493, 0.9996759805635514], "count": [825]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019393939524888992], "std": [0.137905091047287], "count": [825]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012121212121212121], "std": [0.03479442447129048], "count": [825]}, "timestamp": {"min": [0.0], "max": [41.2], "mean": [20.6], "std": [11.907840554301467], "count": [825]}, "frame_index": {"min": [0], "max": [824], "mean": [412.0], "std": [238.15681108602934], "count": [825]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [825]}, "index": {"min": [82228], "max": [83052], "mean": [82640.0], "std": [238.15681108602934], "count": [825]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [825]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100362720755939]], [[0.40911166337641575]], [[0.33867478244169913]]], "std": [[[0.22139307389242205]], [[0.22217302617967216]], [[0.25725744484462487]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5535225130633852]], [[0.48929222974199127]], [[0.4262316445547786]]], "std": [[[0.24274503170428327]], [[0.26962766751988826]], [[0.28529605843556055]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5356387077623891]], [[0.4422522775976838]], [[0.3651363452489477]]], "std": [[[0.23061986595713374]], [[0.2628924745443263]], [[0.29075278494783113]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [820]}, "observation.state": {"min": [2.759071158915798, -1.0476614165443827, 0.6999968050935805, 0.0, 0.0, 0.6851034760475159, 0.7071067094802856, -0.1633001110038731, -0.7605724683720756, 0.01037289479502057, -0.9866229891777039, -0.5490471720695496, -0.18136608600616455, 0.00018690721481107175, 0.005183538838500507, -0.04057009445384797], "max": [3.9900029083960384, -0.8089235789741049, 0.7020445806684998, 0.0, 0.0, 0.7071068286895752, 0.7284457087516785, 0.4523434053094926, 0.00974212708861355, 0.6141574171760759, 0.9954144954681396, 0.6829851269721985, 0.16521814465522766, 0.21085034310817719, 0.04004106700825634, -0.01207324816047074], "mean": [2.8556155832699863, -0.8297571970948999, 0.700484355652555, 0.0, 0.0, 0.6860850927306384, 0.7275009005534939, 0.18298948983762234, -0.41474563295958944, 0.35498496342869795, 0.3056308562435755, -0.10323168131999853, -0.00943424611348125, 0.06939508978844615, 0.031103379474521835, -0.031617017125934586], "std": [0.19148760897245276, 0.06409944933146337, 0.0007069784892123706, 0.0, 0.0, 0.003918239046038426, 0.0037859984831366145, 0.1490442115882836, 0.24707431843633781, 0.16981537652163045, 0.8834584748776031, 0.31394053960140905, 0.10210545404171045, 0.039309735272992016, 0.011257072333672562, 0.010719400410967469], "count": [820]}, "action": {"min": [-0.4285714285714286, -0.43392857142857144, -0.04928571428571429, 0.0, -1.0, -0.9, -0.7928571428571429, -0.6482142857142857, -0.21214285714285713, -0.2528571428571429, -0.3021428571428571, -1.0], "max": [0.4982142857142858, 0.7982142857142857, 0.0, 0.0, 1.0, 1.0, 1.0, 0.8571428571428572, 0.23785714285714282, 0.2014285714285714, 0.27, 1.0], "mean": [0.006957752613240415, 0.04384364111498261, -0.002038327526132404, 0.0, -0.7268292682926829, -0.00523736933797909, -0.03648301393728235, -0.03108449477351916, -0.010079268292682925, 0.00576219512195123, -0.019379790940766573, -0.28780487804878047], "std": [0.09336746222515595, 0.18201514730460155, 0.00872618850039311, 0.0, 0.6868181817287043, 0.3113704031098668, 0.3804952894715388, 0.29055229857389986, 0.05978106783040007, 0.046773399920565915, 0.07553464561154458, 0.9576890686289151], "count": [820]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019512195140123367], "std": [0.1383165568113327], "count": [820]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012195121951219512], "std": [0.034900214685985816], "count": [820]}, "timestamp": {"min": [0.0], "max": [40.95], "mean": [20.475], "std": [11.835671717312879], "count": [820]}, "frame_index": {"min": [0], "max": [819], "mean": [409.5], "std": [236.71343434625757], "count": [820]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [820]}, "index": {"min": [83053], "max": [83872], "mean": [83462.5], "std": [236.71343434625757], "count": [820]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.428058014864673]], [[0.39477712623016054]], [[0.3738359083689211]]], "std": [[[0.22184226010286281]], [[0.205764746591461]], [[0.20605399941146377]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45427457337856064]], [[0.4384026256034045]], [[0.4176875632827445]]], "std": [[[0.24654552574541716]], [[0.23726339282736256]], [[0.22666893010479594]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45651626710969256]], [[0.44173555583032564]], [[0.4214852276240622]]], "std": [[[0.24307398079426037]], [[0.2327438342812271]], [[0.2204726118628789]]], "count": [205]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1215]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1215]}, "observation.state": {"min": [2.1768152054291487, -1.7046461710609746, 0.6999915581060832, 0.0, 0.0, -0.9999861717224121, 0.00526556558907032, 0.018866074892149344, -0.23080606594953768, 0.0075729229707803825, -0.9998879432678223, -0.2012285739183426, -0.21330970525741577, 7.353601540671661e-05, 0.011006417554042176, -0.04000971841135932], "max": [3.3842490850938907, -0.7671332766310586, 0.703448701619102, 0.0, 0.0, 0.999981164932251, 1.0, 0.5451388868713654, 0.47551776038689897, 0.6099946218504687, 0.9998050332069397, 0.409467488527298, 0.23155152797698975, 0.12590517103672028, 0.04089043138851812, 0.0008146812913427416], "mean": [2.6760817756934254, -1.1566431991112638, 0.7011247953643753, 0.0, 0.0, 0.254455417997794, 0.8197644236037669, 0.22623471091519992, 0.2056570779700968, 0.3398564674842742, -0.1851132784851294, 0.04540061994988487, -0.05816233466478034, 0.05213414351147463, 0.027524148739788683, -0.026214349438260613], "std": [0.4191981947576681, 0.3161971292301119, 0.0010809735720200965, 0.0, 0.0, 0.4662142568424592, 0.21420320730211379, 0.15127262824179802, 0.17829946367858868, 0.15182645546039306, 0.9649840303302294, 0.12003072437144566, 0.10379492524443942, 0.03458458164532522, 0.013018193240358071, 0.013586281660510608], "count": [1215]}, "action": {"min": [-0.9160714285714286, -0.4875000000000001, -0.4478571428571429, 0.0, -1.0, -1.0, -0.8089285714285713, -0.8035714285714287, -0.22285714285714286, -0.16928571428571426, -0.15857142857142859, -1.0], "max": [0.5785714285714285, 0.567857142857143, 0.08142857142857143, 0.0, 1.0, 0.6428571428571429, 1.0, 1.0, 0.17571428571428574, 0.2785714285714286, 0.22500000000000003, 1.0], "mean": [0.03621252204585542, 0.0018827160493827201, -0.0741569664902999, 0.0, -0.4403292181069959, -0.0056143445032333945, 0.013881540270429146, -0.017300117577895426, -0.0005643738977072308, 0.00450440917107584, 0.0013262786596119915, -0.023868312757201648], "std": [0.15836285557418925, 0.11726471825843107, 0.15446087875650868, 0.0, 0.8978363880358573, 0.2618847885714031, 0.29799005428039615, 0.2402890486269618, 0.03925870741573083, 0.04011026680112006, 0.04408293584640704, 0.999715111242255], "count": [1215]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01316872425377369], "std": [0.1139969676733017], "count": [1215]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008230452674897119], "std": [0.028676957020879582], "count": [1215]}, "timestamp": {"min": [0.0], "max": [60.7], "mean": [30.35], "std": [17.53700848681629], "count": [1215]}, "frame_index": {"min": [0], "max": [1214], "mean": [607.0], "std": [350.74016973632587], "count": [1215]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1215]}, "index": {"min": [83873], "max": [85087], "mean": [84480.0], "std": [350.74016973632587], "count": [1215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1215]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5769164111409176]], [[0.4761551224674621]], [[0.39717353910241754]]], "std": [[[0.16420567218387755]], [[0.17727577687348725]], [[0.1814724979295374]]], "count": [189]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.591862799807423]], [[0.5252057994150351]], [[0.469743023439121]]], "std": [[[0.15466584524579546]], [[0.18338458377609462]], [[0.20439454593440953]]], "count": [189]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874052745646147]], [[0.5161797297224735]], [[0.46076806491187333]]], "std": [[[0.14958007777590615]], [[0.18070491228702582]], [[0.20265461360091958]]], "count": [189]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1086]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1086]}, "observation.state": {"min": [0.6373343989244192, -1.4209399492774628, 0.6999979411993899, 0.0, 0.0, -0.04072390869259834, 0.35243353247642517, -0.029666116917303365, -0.0474747021435038, 0.006435988056022746, -0.9925267696380615, -0.3075096905231476, -0.4831635057926178, 0.00040027417708188295, 0.014612738747380276, -0.040064661724838836], "max": [5.13989445839733, -0.7944968295106836, 0.7073021616597074, 0.0, 0.0, 0.935836911201477, 0.9999992847442627, 0.46271302514770163, 0.48874667856261195, 0.5966830047230686, 0.9896809458732605, 0.3334488570690155, 0.4615715742111206, 0.2848014831542969, 0.04045638100303034, -0.008915396013605914], "mean": [2.5817279785119434, -0.955266468428798, 0.7051957417703244, 0.0, 0.0, 0.6717734633404444, 0.6590391119485841, 0.2970776908420608, 0.2463214196892714, 0.36206134825224606, -0.479889127924956, 0.05813137767064637, -0.0956648361272099, 0.0904707148816455, 0.030713228576316438, -0.0297753999032981], "std": [1.6903049788151268, 0.1408579506411462, 0.002268218216368029, 0.0, 0.0, 0.2521418424579483, 0.22541595850409665, 0.081773524952018, 0.10264272507228275, 0.12795933942436552, 0.803647316308662, 0.1651627616090407, 0.26228272361458826, 0.08408615534688482, 0.010547005883216913, 0.010899195811455048], "count": [1086]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.6928571428571428, -0.29428571428571426, -0.6485714285714286, -0.39714285714285713, -1.0], "max": [1.0, 1.0, 0.68, 0.0, 1.0, 0.6642857142857144, 1.0, 1.0, 0.43428571428571433, 0.7942857142857143, 0.3457142857142857, 1.0], "mean": [0.08722046829781631, -0.06176664035780054, 0.00025256511444358157, 0.0, -0.19521178637200737, -0.014726387792686115, 0.017396737700605115, -0.01742304656669295, -0.000647198105761641, -0.003038674033149172, -0.0006366745593264964, -0.10865561694290976], "std": [0.3325405909431711, 0.43901037026533535, 0.2143832719048149, 0.0, 0.980761111821551, 0.24020997841855343, 0.2664559058577678, 0.3296380295838068, 0.05071312968531704, 0.13275325622433343, 0.059944730539647585, 0.9940794520091271], "count": [1086]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014732965268194675], "std": [0.1204819604754448], "count": [1086]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009208103130755065], "std": [0.030330882305710138], "count": [1086]}, "timestamp": {"min": [0.0], "max": [54.25], "mean": [27.125], "std": [15.675053163120905], "count": [1086]}, "frame_index": {"min": [0], "max": [1085], "mean": [542.5], "std": [313.5010632624181], "count": [1086]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1086]}, "index": {"min": [85088], "max": [86173], "mean": [85630.5], "std": [313.5010632624181], "count": [1086]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1086]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573934773388613]], [[0.5466381396008343]], [[0.5265645873234507]]], "std": [[[0.22219347363322128]], [[0.2331783808853888]], [[0.24337241191764042]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48595968767329734]], [[0.49551340120490844]], [[0.48692379576546924]]], "std": [[[0.285475901589046]], [[0.24231747020144423]], [[0.23083377169707342]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5536056734173461]], [[0.5652904258524944]], [[0.5635226888716162]]], "std": [[[0.272271441430524]], [[0.24019324751093005]], [[0.23503801027753013]]], "count": [179]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1012]}, "observation.state": {"min": [2.004802531809887, -2.2103979974316603, 0.699992247522821, 0.0, 0.0, -0.7071298956871033, 0.7070835828781128, -0.019527904856426304, -0.408149746691961, -0.004517763244065387, -0.9896854758262634, -0.6288071274757385, -0.3600107729434967, 1.4703849046782125e-05, 0.012239177225593085, -0.040325216750243136], "max": [2.618706624631304, -1.9023840122961697, 0.7139848762114717, 0.0, 0.0, -0.19885289669036865, 0.9800293445587158, 0.6413532690561237, 0.3766607340873398, 0.6160513228050476, 0.9801083207130432, 0.708376944065094, 0.2033989429473877, 0.17438215017318726, 0.041316930315594184, 3.4799678976925665e-05], "mean": [2.168584643949817, -2.178088519436479, 0.7083857215938837, 0.0, 0.0, -0.2494927833791778, 0.9575353538683752, 0.2782730356156134, -0.0468468644322706, 0.3502935315774609, -0.6842587087229778, 0.19723889212540016, -0.05330645068306155, 0.042395952628148305, 0.03473954839613493, -0.03385685019326372], "std": [0.10253406873575319, 0.05229887163364239, 0.005628311296197984, 0.0, 0.0, 0.12903870908594828, 0.0650261781567417, 0.1792425210821885, 0.2056608463299935, 0.16585609633439677, 0.6031793457951926, 0.3307455499953009, 0.11618943284530485, 0.03911423042076603, 0.010230749528398113, 0.0107586722105602], "count": [1012]}, "action": {"min": [-0.7285714285714285, -1.0, -0.13142857142857142, 0.0, -1.0, -1.0, -0.7357142857142858, -0.8285714285714285, -0.19428571428571428, -0.4, -0.3514285714285714, -1.0], "max": [0.8785714285714286, 0.3785714285714286, 0.5342857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.18285714285714286, 0.32285714285714284, 0.26571428571428574, 1.0], "mean": [0.019416996047430832, -0.03563664596273293, 0.02480801806888764, 0.0, -0.7114624505928854, 0.006451157538114045, 0.005639469226425753, -0.03199463579898359, -0.0003980801806888771, 0.0012055335968379423, -0.00294184076792774, -0.4031620553359684], "std": [0.14153160051812913, 0.15723825456875026, 0.08674187260449583, 0.0, 0.7027241147109884, 0.3446473377561936, 0.26705839583833946, 0.35869064413748314, 0.034017793144294935, 0.07232340858651012, 0.07357821838118618, 0.9151286014201836], "count": [1012]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015810277312994003], "std": [0.12474098801612854], "count": [1012]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009881422924901185], "std": [0.03141919584107638], "count": [1012]}, "timestamp": {"min": [0.0], "max": [50.55], "mean": [25.275], "std": [14.60695467919306], "count": [1012]}, "frame_index": {"min": [0], "max": [1011], "mean": [505.5], "std": [292.13909358386115], "count": [1012]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1012]}, "index": {"min": [86174], "max": [87185], "mean": [86679.5], "std": [292.13909358386115], "count": [1012]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6883067026859572]], [[0.6293835433071884]], [[0.5735226039607466]]], "std": [[[0.250862326034277]], [[0.2697990069680243]], [[0.2901252681934166]]], "count": [126]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6863377727528728]], [[0.6775298625852251]], [[0.6460558694506447]]], "std": [[[0.1684936564642528]], [[0.16506315730111548]], [[0.1643701635917745]]], "count": [126]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6677925710621705]], [[0.6634844697156207]], [[0.6334732772774908]]], "std": [[[0.1637018266166797]], [[0.16049519859373268]], [[0.15831437338457754]]], "count": [126]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [632]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [632]}, "observation.state": {"min": [3.763131579449494, -1.4684694812518242, 0.6999850477373444, 0.0, 0.0, -0.00029130213079042733, 1.0, -0.16582959703740618, -0.06045109238620827, 0.014413676072828396, -0.9956026673316956, -0.30242010951042175, -0.19725017249584198, 0.0006072062533348799, 0.010792816644323475, -0.03983963741426044], "max": [3.7631895279015697, -1.468204266009279, 0.7028512738708004, 0.0, 0.0, -4.2790172301465645e-05, 1.0, 0.38910608910717004, 0.42317590136078986, 0.5837607380734755, 0.9888242483139038, 0.30404141545295715, 0.32802829146385193, 0.24415092170238495, 0.04105576025464842, 0.001639730888234688], "mean": [3.7631772998930737, -1.4682388061452123, 0.7006989441937534, 0.0, 0.0, -7.979814687201678e-05, 1.0, 0.155392427504824, 0.21624321937046814, 0.2755771258676113, -0.850345997870723, 0.015574405783245081, 0.004919028367469223, 0.10516339962818672, 0.029781819476325834, -0.028783673679455665], "std": [8.002874930507236e-06, 3.6042033651083024e-05, 0.0011295499424382148, 0.0, 0.0, 3.2748141148080466e-05, 0.0, 0.1615594365147725, 0.15127885732139584, 0.12592966050873475, 0.4578272336404137, 0.2033493097228187, 0.10731235628589182, 0.05579356622476042, 0.011859993696485207, 0.012193005913073032], "count": [632]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.9107142857142857, -0.5892857142857143, -0.11142857142857143, -0.2957142857142857, -0.2892857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9750000000000002, 1.0, 1.0, 0.15857142857142859, 0.13714285714285715, 0.2292857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0223270795660036, 0.013019891500904142, -0.011895343580470105, 0.006174276672694382, -0.0017732820976491847, -0.004489150090415913, -0.16772151898734178], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.34244208797829095, 0.34258337553874185, 0.34587957878640235, 0.04362302492599594, 0.08178044219952589, 0.06938743170943268, 0.9858344141226617], "count": [632]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025316456332802773], "std": [0.15708446502685547], "count": [632]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015822784810126582], "std": [0.03974638192114073], "count": [632]}, "timestamp": {"min": [0.0], "max": [31.55], "mean": [15.774999999999999], "std": [9.122122834077603], "count": [632]}, "frame_index": {"min": [0], "max": [631], "mean": [315.5], "std": [182.44245668155207], "count": [632]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [632]}, "index": {"min": [87186], "max": [87817], "mean": [87501.5], "std": [182.44245668155207], "count": [632]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [632]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4969670334872397]], [[0.38710612429233177]], [[0.3263678925189617]]], "std": [[[0.16686264708239038]], [[0.16314259453523552]], [[0.17287199342511453]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5416976499101994]], [[0.4385321758891023]], [[0.37637119871778507]]], "std": [[[0.19504393137274875]], [[0.21462718408107617]], [[0.22449321706594375]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5438054088134152]], [[0.4400761487477186]], [[0.3785882956541741]]], "std": [[[0.18958106835255356]], [[0.21194607974799512]], [[0.2235691646040013]]], "count": [234]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1450]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1450]}, "observation.state": {"min": [0.8913683296713358, -4.670564346621394, 0.6999982422909848, 0.0, 0.0, -0.9999994039535522, 0.0010809405939653516, 0.13286104093581574, -0.4163109363693773, 0.04402265303376063, -0.9955204129219055, -0.40300294756889343, -0.5113644003868103, 0.00010615229257382452, 0.009283021645333641, -0.04124194790465326], "max": [4.029648137644894, -0.9531400873736579, 0.7062230186469587, 0.0, 0.0, 0.9999979734420776, 0.9999871253967285, 0.7907920616294559, 0.3110701054803826, 0.6013701944811131, 0.9960166215896606, 0.40635740756988525, 0.3130313754081726, 0.3896273672580719, 0.04066076736503834, -0.00025958302505644214], "mean": [2.544704434621103, -3.174218599191808, 0.7047689913666162, 0.0, 0.0, 0.39711576470591387, 0.49813323821800215, 0.343732837786006, -0.030782556646696317, 0.4090738767094029, -0.4336993727190741, 0.10865429774954401, -0.14782942901630405, 0.05861749600613056, 0.02565043397496102, -0.024334765387856706], "std": [0.982959665027576, 1.210410476043875, 0.0019162995659229767, 0.0, 0.0, 0.6949177480790749, 0.3335441116759471, 0.17046469991734498, 0.1180198130927818, 0.14508496150124847, 0.8259101807059905, 0.222812501731865, 0.19928476238046447, 0.05763757683865652, 0.013315969057926279, 0.01394980803234269], "count": [1450]}, "action": {"min": [-1.0, -1.0, -0.7628571428571429, 0.0, -1.0, -1.0, -0.9928571428571428, -1.0, -0.5857142857142857, -1.0, -0.5171428571428571, -1.0], "max": [1.0, 1.0, 0.6742857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.23142857142857146, 0.8028571428571428, 0.4371428571428572, 1.0], "mean": [0.21480295566502483, 0.10686206896551727, -0.056242364532019626, 0.0, -0.057931034482758624, 0.006729064039408881, -0.014049261083743839, -0.033142857142857154, -0.010563546798029561, -0.012573399014778329, -0.0015960591133004907, 0.05931034482758621], "std": [0.3969121400106233, 0.4699867771550304, 0.22821137856664012, 0.0, 0.9983205874085512, 0.3277391007324985, 0.2025000682908307, 0.3059894760692996, 0.06655390322882919, 0.13660424197823456, 0.05929245102641628, 0.9982395919800228], "count": [1450]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011034483090043068], "std": [0.10446398705244064], "count": [1450]}, "next.done": {"min": [false], "max": [true], "mean": [0.000689655172413793], "std": [0.02625222939403349], "count": [1450]}, "timestamp": {"min": [0.0], "max": [72.45], "mean": [36.225], "std": [20.92894228096585], "count": [1450]}, "frame_index": {"min": [0], "max": [1449], "mean": [724.5], "std": [418.578845619317], "count": [1450]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1450]}, "index": {"min": [87818], "max": [89267], "mean": [88542.5], "std": [418.578845619317], "count": [1450]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1450]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5789415724636855]], [[0.5097699836099456]], [[0.4605032075934202]]], "std": [[[0.2687779089645953]], [[0.2564597098293917]], [[0.24069902504479534]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5652387116844293]], [[0.5018396924273943]], [[0.44815931041839147]]], "std": [[[0.20654022322885243]], [[0.19571716722212193]], [[0.20213896991361555]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5650291809438321]], [[0.5193987102534239]], [[0.48149860612183804]]], "std": [[[0.20667050581779778]], [[0.19604109457365523]], [[0.1965956807977576]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [668]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [668]}, "observation.state": {"min": [3.6238542881352434, -2.253759407154635, 0.6999976025551007, 0.0, 0.0, -0.7231427431106567, 0.6906986236572266, 0.11383812607726274, -0.32228006839281753, 0.009168375938448436, -0.9918355941772461, -0.04452204704284668, -0.20353592932224274, 0.012399308383464813, 0.008783680410562295, -0.04009912798888962], "max": [4.565035526612059, -1.7851958692390908, 0.70117198951536, 0.0, 0.0, -0.41504427790641785, 0.9098013043403625, 0.7018558986544559, 0.313768253231244, 0.6142427091137032, -0.8254820108413696, 0.5473181009292603, 0.2752314507961273, 0.16448071599006653, 0.04030115074699681, -0.003735786649686906], "mean": [3.6930737790755743, -2.1213360300896147, 0.700367526512191, 0.0, 0.0, -0.4468040405187064, 0.8885213204486642, 0.3350322778975554, 0.0315100773887421, 0.3398311243236724, -0.8999529930645834, 0.3453102741100474, 0.0038291480242820877, 0.07493426333443669, 0.029938608017173234, -0.029337477640980755], "std": [0.20633007752615445, 0.0949270187855302, 0.00047386148052826665, 0.0, 0.0, 0.08601687949628456, 0.05913640720913147, 0.14588725562170887, 0.1863187246957971, 0.1723215202088326, 0.05090260338581671, 0.2068165429937886, 0.1322719066452531, 0.04853459625937021, 0.013267128447253133, 0.013646233374290448], "count": [668]}, "action": {"min": [-1.0, -0.9857142857142858, -0.14785714285714285, 0.0, -1.0, -0.942857142857143, -0.9160714285714286, -0.6428571428571429, -0.2014285714285714, -0.2828571428571429, -0.17357142857142857, -1.0], "max": [0.5517857142857143, 0.6107142857142858, 0.43499999999999994, 0.0, 1.0, 0.7875, 0.9053571428571429, 0.9375, 0.21000000000000002, 0.2657142857142857, 0.07928571428571429, 1.0], "mean": [-0.005303678357570577, -0.05855164670658683, 0.02315440547476477, 0.0, -0.6616766467065869, 0.0018926432848588583, -0.017306458511548304, -0.01797209153122326, -0.004542343883661253, 0.00618477331052182, -0.01131094952951241, -0.31137724550898205], "std": [0.15237330601865792, 0.22014182743300817, 0.08303302172566199, 0.0, 0.7497893138763347, 0.31691567149684186, 0.29605694115188763, 0.3181960880027434, 0.035602560192973316, 0.06622654888295679, 0.03713335452720904, 0.9502863836650713], "count": [668]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023952096700668335], "std": [0.15289993584156036], "count": [668]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014970059880239522], "std": [0.038662190329775324], "count": [668]}, "timestamp": {"min": [0.0], "max": [33.35], "mean": [16.675], "std": [9.64173869175057], "count": [668]}, "frame_index": {"min": [0], "max": [667], "mean": [333.5], "std": [192.83477383501142], "count": [668]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [668]}, "index": {"min": [89268], "max": [89935], "mean": [89601.5], "std": [192.83477383501142], "count": [668]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [668]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299403593122065]], [[0.49356731373426205]], [[0.4657927433832515]]], "std": [[[0.17877835571550163]], [[0.18045984071996166]], [[0.20264680877302446]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49178254721603204]], [[0.48673698432814555]], [[0.45082855976767894]]], "std": [[[0.18180149043200666]], [[0.17460323367806588]], [[0.20320981654745582]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4859735671707907]], [[0.46601509414323516]], [[0.42486111342887367]]], "std": [[[0.16405065867165508]], [[0.15802777522449948]], [[0.1878645457179584]]], "count": [179]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1012]}, "observation.state": {"min": [0.8293761822112095, -5.560580806665703, 0.6999992712508886, 0.0, 0.0, -0.9976709485054016, 0.06821049004793167, 0.10617919593616065, -0.26164119150934884, 0.011735608970368072, -0.9997345805168152, -0.43009263277053833, -0.4143437445163727, 8.942366207520536e-07, 0.011341730504192878, -0.04001397326865595], "max": [2.2493189284727895, -4.690669386749743, 0.702362496512993, 0.0, 0.0, -0.7071059942245483, 0.7071075439453125, 0.7364927307580911, 0.7263261385220485, 0.5921328344450401, 0.9966192841529846, 0.8497563600540161, 0.273627907037735, 0.4160919189453125, 0.04048113455236512, -0.0009873603089538892], "mean": [1.6436734965128759, -5.465059276796967, 0.7016084142438469, 0.0, 0.0, -0.8693774605221428, 0.3687125939743321, 0.3317817604290333, 0.17329344573032748, 0.3989843418741196, -0.566132894058237, 0.27819300684599363, -0.06534786486218609, 0.13435325099348838, 0.03330358335469091, -0.032864323311237835], "std": [0.5761493639610095, 0.17082455569943547, 0.0007472766529490266, 0.0, 0.0, 0.13456020483860295, 0.3002122553799947, 0.1375145423970918, 0.2435599348615943, 0.14479480272116427, 0.6058694805893934, 0.41724525732600687, 0.14294121854881078, 0.1348237391272702, 0.0103018657150364, 0.010814226165253672], "count": [1012]}, "action": {"min": [-1.0, -1.0, -0.88, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.27714285714285714, -0.6571428571428571, -0.5771428571428572, -1.0], "max": [1.0, 1.0, 0.54, 0.0, 1.0, 0.5285714285714286, 1.0, 1.0, 0.5485714285714286, 0.37714285714285717, 0.9571428571428573, 1.0], "mean": [0.0430971202710333, -0.007171089779785436, 0.0034217955957086335, 0.0, -0.6679841897233202, -0.007142857142857144, 0.055413608130999416, 0.005957086391869008, 0.014333709768492365, -0.003534726143421799, -0.004788255223037849, -0.30039525691699603], "std": [0.2652458692300439, 0.24899228054912648, 0.16261918270238013, 0.0, 0.7441754647122503, 0.2799505092873356, 0.3515826126045906, 0.3609444837049155, 0.08936389414843461, 0.10374651114076236, 0.15181379496983857, 0.953814808871084], "count": [1012]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025691699236631393], "std": [0.15821388363838196], "count": [1012]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009881422924901185], "std": [0.03141919584107638], "count": [1012]}, "timestamp": {"min": [0.0], "max": [50.55], "mean": [25.275], "std": [14.60695467919306], "count": [1012]}, "frame_index": {"min": [0], "max": [1011], "mean": [505.5], "std": [292.13909358386115], "count": [1012]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1012]}, "index": {"min": [89936], "max": [90947], "mean": [90441.5], "std": [292.13909358386115], "count": [1012]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5928127519078824]], [[0.5573170311035719]], [[0.5290580420987232]]], "std": [[[0.21279351746943706]], [[0.22726304545215822]], [[0.24802604561653727]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6385125156917374]], [[0.5799664991262187]], [[0.5328734779577904]]], "std": [[[0.20120578534224914]], [[0.21345758107889456]], [[0.23652494120166065]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6353055878448193]], [[0.5899576916780805]], [[0.552273294110795]]], "std": [[[0.20749270373156692]], [[0.21215736171277164]], [[0.22813651286474462]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1207]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1207]}, "observation.state": {"min": [0.8527713626293155, -3.5288032142141974, 0.6999975450242177, 0.0, 0.0, -1.0, 7.084950226499132e-08, 0.02077868719898124, -0.4285544867318043, 0.0018215032088074734, -0.9979655146598816, -0.3703237771987915, -0.3488485813140869, 1.5421348507516086e-05, 0.012094330693175554, -0.0400258526375661], "max": [2.764302782491985, -1.299491343664545, 0.7130529548139565, 0.0, 0.0, 1.0, 0.9999634027481079, 0.5433982310415302, 0.40417408040653435, 0.6086669251069585, 0.9872294664382935, 0.3589990735054016, 0.5638932585716248, 0.24684955179691315, 0.04072123728161587, -0.011537884511091024], "mean": [1.69303063951454, -2.4082620968703528, 0.7090184968290184, 0.0, 0.0, -0.030223993260441187, 0.6590010954758505, 0.2549970921026973, 0.017878131958815463, 0.4273134001193839, -0.009676828005142022, -0.08830924846336875, 0.006554838420759306, 0.03892912043332766, 0.03106800772329081, -0.026914092032040225], "std": [0.7491972315515686, 0.734760308109262, 0.004458367041919359, 0.0, 0.0, 0.7275258317303754, 0.18844158994880184, 0.1323995277347335, 0.15644312574663985, 0.1427529361584549, 0.9593876856811507, 0.18045548774665177, 0.18943515667061764, 0.040924361393765124, 0.009451563564681794, 0.01154698367139695], "count": [1207]}, "action": {"min": [-1.0, -1.0, -0.9857142857142858, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.2885714285714286, -0.4714285714285714, -0.24571428571428575, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.20857142857142857, 0.41714285714285715, 0.22285714285714286, 1.0], "mean": [0.11502544679843767, -0.03450704225352114, 0.09967096697834064, 0.0, -0.22949461474730737, -0.001668836548703983, 0.002160018937152313, -0.019955024263226397, -0.002066516747544086, -0.0011527991478281546, -0.0018440052077168883, 0.08699254349627175], "std": [0.3725854217038531, 0.3634646734860764, 0.2828165875748613, 0.0, 0.973309931009636, 0.3283885746281532, 0.2813731500956052, 0.30638944498815057, 0.04792384547526755, 0.10299416529696692, 0.05659867716088863, 0.99620896270614], "count": [1207]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013256006874144077], "std": [0.11436906456947327], "count": [1207]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008285004142502071], "std": [0.02877175700776361], "count": [1207]}, "timestamp": {"min": [0.0], "max": [60.3], "mean": [30.150000000000002], "std": [17.421538393609218], "count": [1207]}, "frame_index": {"min": [0], "max": [1206], "mean": [603.0], "std": [348.43076787218433], "count": [1207]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1207]}, "index": {"min": [90948], "max": [92154], "mean": [91551.0], "std": [348.43076787218433], "count": [1207]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1207]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292632649363635]], [[0.5841837010580881]], [[0.5292314102365525]]], "std": [[[0.21409385761277766]], [[0.22379665287733844]], [[0.25101871433193335]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6440587833155084]], [[0.6140826736824576]], [[0.58776225755866]]], "std": [[[0.23076292894259223]], [[0.2217236789854172]], [[0.22327607968082872]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6351354701014077]], [[0.6058351507912352]], [[0.5796264773753497]]], "std": [[[0.2383502301528846]], [[0.22955514964264842]], [[0.23139840781557686]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1103]}, "observation.state": {"min": [2.1703754760629086, -1.3704695158703577, 0.6999937120532729, 0.0, 0.0, 0.00014831552107352763, 0.47304728627204895, 0.11730425121213828, -0.34761728978574036, 0.015691524380424315, -0.9994099140167236, -0.4691999554634094, -0.3760427236557007, 7.211053798528155e-06, -0.001138784399202424, -0.04008721194682088], "max": [3.7169086323411515, -0.7450662058391198, 0.7083243157442912, 0.0, 0.0, 0.8810369968414307, 1.0, 0.5515831170693613, -0.0009706953908261706, 0.6231392982033213, 0.9974067807197571, 0.49610036611557007, 0.29392892122268677, 0.2966998815536499, 0.040777640380958664, 0.0018099196886662613], "mean": [2.9842341032637973, -1.0331913647148305, 0.7025354478409215, 0.0, 0.0, 0.444381198590822, 0.7982226096276035, 0.2980665089934777, -0.11867042633646673, 0.3754427583243314, -0.330782845846005, -0.07152777823770684, 0.01559277117687034, 0.05201515965787796, 0.029719259771971398, -0.026875214840380704], "std": [0.48056578571911496, 0.26753601658597614, 0.0028483848216591403, 0.0, 0.0, 0.36554962420448206, 0.1781558478601273, 0.10512643864421752, 0.08948520161002756, 0.14668312176133994, 0.9124878481506931, 0.19211153934263822, 0.10534398939011064, 0.04335323445953909, 0.013125746422043654, 0.014791283764992535], "count": [1103]}, "action": {"min": [-1.0, -1.0, -0.76, 0.0, -1.0, -1.0, -0.6714285714285714, -1.0, -0.2285714285714286, -0.3914285714285714, -0.5828571428571429, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.7571428571428572, 1.0, 1.0, 0.4971428571428572, 0.7542857142857143, 0.4571428571428572, 1.0], "mean": [0.04787592280792644, -0.060322497085869724, 0.010521953114881499, 0.0, -0.3980054397098821, -0.011611190260329, -0.002836420152829938, -0.016817769718948328, 0.005071881880585419, 0.01777489962440097, -0.0013236627379873058, -0.11514052583862194], "std": [0.24935041167860095, 0.34997828750627896, 0.20529423900235041, 0.0, 0.9173830551963239, 0.29046611586100024, 0.21940566398784853, 0.3818186032432595, 0.05748931619416112, 0.1212608538310615, 0.11731379780484778, 0.993349213172088], "count": [1103]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014505892992019653], "std": [0.11956368386745453], "count": [1103]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009066183136899365], "std": [0.030096450902443936], "count": [1103]}, "timestamp": {"min": [0.0], "max": [55.1], "mean": [27.55], "std": [15.920427129948493], "count": [1103]}, "frame_index": {"min": [0], "max": [1102], "mean": [551.0], "std": [318.40854259896986], "count": [1103]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1103]}, "index": {"min": [92155], "max": [93257], "mean": [92706.0], "std": [318.40854259896986], "count": [1103]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5851982644298668]], [[0.5131274466603524]], [[0.4691830366983874]]], "std": [[[0.21128791131404312]], [[0.18576894659042117]], [[0.180895697261986]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409520897666897]], [[0.4741532441863941]], [[0.4412880108038356]]], "std": [[[0.20863948448859906]], [[0.19460407868899138]], [[0.18698220176348046]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5445601989366631]], [[0.47656524643608394]], [[0.4421477439584828]]], "std": [[[0.20776935143508896]], [[0.19372277843381888]], [[0.18498575199549053]]], "count": [205]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1213]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1213]}, "observation.state": {"min": [1.2120767291160144, -1.4174141094424222, 0.6999934703072157, 0.0, 0.0, 0.32285261154174805, 0.3690585196018219, -0.02900900866818512, -0.07663991325246694, -0.009491130294969952, -0.9987348914146423, -0.3400481641292572, -0.3895864188671112, 1.1084756806667428e-05, 0.005949709044866375, -0.04062567064734023], "max": [3.520343745776244, -0.7580273081054746, 0.7042837592445051, 0.0, 0.0, 0.9294061660766602, 0.9464492797851562, 0.6164526717763392, 0.2821352174739842, 0.6794430177750247, 0.9974531531333923, 0.41129234433174133, 0.43950769305229187, 0.07929881662130356, 0.04040887162959001, -0.009184504078698377], "mean": [2.0808574186775424, -1.032536454583178, 0.7011961627553871, 0.0, 0.0, 0.749862608492915, 0.6373139497718827, 0.22503566880366893, 0.051880186104248376, 0.4050499475137374, -0.31783053895607527, 0.01759315478044999, -0.007340871667318002, 0.026068366272883496, 0.030941171447400866, -0.03131577222125824], "std": [0.9483870319008924, 0.21904442690397993, 0.0010942198789869744, 0.0, 0.0, 0.1082981910981073, 0.14074262769417673, 0.19369324265445065, 0.08669180514721986, 0.17518702723632176, 0.9135274340186699, 0.17608974509745295, 0.17878016767054833, 0.020939481294736058, 0.01056175013910137, 0.009819980820993968], "count": [1213]}, "action": {"min": [-1.0, -1.0, -0.9485714285714286, 0.0, -1.0, -1.0, -0.7357142857142858, -0.6500000000000001, -0.2057142857142857, -0.3628571428571429, -0.26857142857142857, -1.0], "max": [1.0, 1.0, 0.6428571428571429, 0.0, 1.0, 1.0, 0.8, 1.0, 0.09428571428571429, 0.2, 0.35714285714285715, 1.0], "mean": [0.04827464374043104, -0.037068660935107724, 0.007410199034271582, 0.0, -0.42126957955482275, -0.006977976681191829, 0.006294900482864228, -0.007761158874102014, -0.0014980567659875154, -0.001175362148156865, 0.0012648686844894598, -0.11129431162407255], "std": [0.29152308423984136, 0.3827759414464938, 0.16667056692687912, 0.0, 0.9069354670216103, 0.4028453902371759, 0.1265270313985051, 0.3333326687542169, 0.025233406791481203, 0.060339942656453684, 0.0628558188707975, 0.9937874904626787], "count": [1213]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013190437108278275], "std": [0.11408966034650803], "count": [1213]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008244023083264633], "std": [0.028700569143494163], "count": [1213]}, "timestamp": {"min": [0.0], "max": [60.6], "mean": [30.299999999999994], "std": [17.508140963563207], "count": [1213]}, "frame_index": {"min": [0], "max": [1212], "mean": [606.0], "std": [350.16281927126414], "count": [1213]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1213]}, "index": {"min": [93258], "max": [94470], "mean": [93864.0], "std": [350.16281927126414], "count": [1213]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1213]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5825630311567561]], [[0.4833747710921474]], [[0.4379027887785018]]], "std": [[[0.2311682186485741]], [[0.2628382754999508]], [[0.2813098195870353]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5387232999159349]], [[0.5022431076843314]], [[0.48321306240019996]]], "std": [[[0.2601174336185561]], [[0.27722290330472193]], [[0.29325891682662164]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5229415630135695]], [[0.48820806830130575]], [[0.4704183706948621]]], "std": [[[0.25266832581298854]], [[0.26776420755428754]], [[0.28197336644005416]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1050]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1050]}, "observation.state": {"min": [1.5863265351346358, -4.311295324607956, 0.6999983747243596, 0.0, 0.0, -0.7582870125770569, 0.6519207954406738, 0.1150703825570889, -0.2776727120617801, -0.02637010362195713, -0.9954659342765808, -0.6148367524147034, -0.15750806033611298, 1.7362899598083459e-06, -0.0017776136777179917, -0.04060164503899914], "max": [4.27651043937705, -2.060848149494724, 0.705933698776214, 0.0, 0.0, 0.0001517744385637343, 1.0, 0.7058872922585429, 0.437822833552477, 0.5988311175400856, 0.9958527088165283, 0.5819036364555359, 0.21844281256198883, 0.12442219257354736, 0.0403261885187912, -0.014562356999048476], "mean": [2.9335297405023057, -3.2141618579206797, 0.704129964619692, 0.0, 0.0, -0.3642505831849883, 0.8489919098218283, 0.3842075572426684, 0.10587628481379421, 0.3488480510181781, -0.41253499712262837, -0.12087466481895674, -0.0020007968014050716, 0.027641324078997623, 0.029337551427186546, -0.030755880513079516], "std": [1.2328495547488783, 0.9683682002656078, 0.001953621231360877, 0.0, 0.0, 0.3506675190761495, 0.1535140654839607, 0.18746922070573574, 0.1715138174423124, 0.16573636622964819, 0.858010528879181, 0.26838737433717264, 0.0741370467523081, 0.026944253579791598, 0.011899511736056143, 0.011102136364154788], "count": [1050]}, "action": {"min": [-1.0, -1.0, -0.842857142857143, 0.0, -1.0, -1.0, -0.7714285714285714, -0.8285714285714285, -0.23428571428571432, -0.07428571428571429, -0.28285714285714286, -1.0], "max": [1.0, 1.0, 0.8057142857142856, 0.0, 1.0, 1.0, 0.9, 1.0, 0.12, 0.2, 0.2857142857142857, 1.0], "mean": [0.008775510204081648, -0.10430612244897958, 0.0009442176870748287, 0.0, -0.5066666666666667, 0.005789115646258518, 0.004591836734693911, -0.025265306122448965, 0.0024000000000000002, 0.010054421768707482, 0.0010884353741496522, -0.17142857142857143], "std": [0.19196507503171467, 0.36916785783822437, 0.18379010136210203, 0.0, 0.8621420352174614, 0.2920008457429065, 0.2559144004184323, 0.2837564768682037, 0.029236759481109594, 0.03691190563793863, 0.06694288467007074, 0.9851965514038143], "count": [1050]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015238095074892044], "std": [0.12249855697154999], "count": [1050]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009523809523809524], "std": [0.030845970934669804], "count": [1050]}, "timestamp": {"min": [0.0], "max": [52.45], "mean": [26.225], "std": [15.155437693008627], "count": [1050]}, "frame_index": {"min": [0], "max": [1049], "mean": [524.5], "std": [303.10875386017256], "count": [1050]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1050]}, "index": {"min": [94471], "max": [95520], "mean": [94995.5], "std": [303.10875386017256], "count": [1050]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1050]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4563247691745246]], [[0.4038664414039451]], [[0.356288630943326]]], "std": [[[0.23444148066549422]], [[0.21515679896046358]], [[0.20423200879392447]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38112083440599187]], [[0.36147707992476147]], [[0.3436175003550411]]], "std": [[[0.20374195789086458]], [[0.19840470230084864]], [[0.19849158891747615]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34369942104807777]], [[0.329404056911981]], [[0.31479380987828076]]], "std": [[[0.2057074777486381]], [[0.19819302140788891]], [[0.19399794238527465]]], "count": [216]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1298]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1298]}, "observation.state": {"min": [3.2151072368430436, -1.1969830786635585, 0.6999991139954551, 0.0, 0.0, 0.668736457824707, 0.27065977454185486, -0.022929925834221487, -0.14318178694238348, 0.008514849226177845, -0.9997282028198242, -0.5311979651451111, -0.15341268479824066, 8.035579412535299e-06, 0.0133048392376692, -0.0400148517517781], "max": [5.061045754453696, -0.7717799496115219, 0.7110512136249654, 0.0, 0.0, 0.9626750349998474, 0.7434995770454407, 0.5286907847426403, 0.33753505036420195, 0.6010988500972593, 0.995850682258606, 0.5858573913574219, 0.162882000207901, 0.21422672271728516, 0.04016225575212894, 0.0010597802261864563], "mean": [4.109295102857834, -0.8885439420512454, 0.7084704972048834, 0.0, 0.0, 0.8223655356097112, 0.5306293612865527, 0.22852438021690555, 0.11238113972960691, 0.36874471232709133, -0.57424003441455, 0.20656139207846028, -0.03489489288483039, 0.08237581110036771, 0.02960427382457624, -0.02858445875305618], "std": [0.7108964609186825, 0.1013555211982359, 0.0038194745065824407, 0.0, 0.0, 0.10493060106386223, 0.1764567273807704, 0.14084667840408557, 0.14094126184170797, 0.14795370454061726, 0.717891440284347, 0.30642903305684516, 0.08362322681802002, 0.05759893465315021, 0.01203987299215595, 0.012544512318458594], "count": [1298]}, "action": {"min": [-1.0, -0.9589285714285715, -0.54, 0.0, -1.0, -0.8839285714285714, -0.9589285714285715, -1.0, -0.12214285714285715, -0.14785714285714285, -0.20357142857142857, -1.0], "max": [0.5892857142857143, 1.0, 0.46714285714285714, 0.0, 1.0, 0.8357142857142857, 0.8839285714285714, 0.9910714285714286, 0.13714285714285715, 0.3407142857142857, 0.28500000000000003, 1.0], "mean": [0.010573959938366698, -0.048438531807175854, 0.0036946951353731177, 0.0, -0.3543913713405239, -0.01262519260400616, -0.009711369139335235, -0.021385923398635313, -0.0014412282632621618, 0.005263042042703065, -0.0014973585736297674, -0.1802773497688752], "std": [0.21700711342853193, 0.28585763024345834, 0.11986099786551185, 0.0, 0.9350971906274729, 0.29675338629254017, 0.2227332234691782, 0.29956583654926017, 0.0292017783240727, 0.04478510672660565, 0.06488699700774926, 0.9836158178680848], "count": [1298]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012326656840741634], "std": [0.11033906042575836], "count": [1298]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007704160246533128], "std": [0.02774567504679369], "count": [1298]}, "timestamp": {"min": [0.0], "max": [64.85], "mean": [32.425000000000004], "std": [18.73501067520379], "count": [1298]}, "frame_index": {"min": [0], "max": [1297], "mean": [648.5], "std": [374.7002135040758], "count": [1298]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1298]}, "index": {"min": [95521], "max": [96818], "mean": [96169.5], "std": [374.7002135040758], "count": [1298]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1298]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5927574005550701]], [[0.5692076868835567]], [[0.5259992227584016]]], "std": [[[0.23996839732069808]], [[0.22601762196888683]], [[0.2198935129804069]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5251557621502028]], [[0.5389660895698392]], [[0.5225391760645295]]], "std": [[[0.2652564966488866]], [[0.20789980128734284]], [[0.17824952352614115]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5174416965560701]], [[0.534373909040883]], [[0.5205538318161811]]], "std": [[[0.2672492089242287]], [[0.21170204203140028]], [[0.18458450687367164]]], "count": [233]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1437]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1437]}, "observation.state": {"min": [1.1891736804128983, -4.204973731778267, 0.6999950311872761, 0.0, 0.0, -0.9999947547912598, 3.61988932127133e-05, 0.019075512060682476, -0.200279991334537, 0.014149137863764816, -0.9919764399528503, -0.5614023208618164, -0.25628557801246643, 0.00012139407772338018, 0.01372463837407073, -0.0400732928684456], "max": [5.224867277749894, -1.3746595952931255, 0.7004222392029529, 0.0, 0.0, 1.0, 0.8777101039886475, 0.621090286031968, 0.008515624289700874, 0.5902141181023771, 0.9985609650611877, 0.5555104613304138, 0.15335795283317566, 0.10520745813846588, 0.04002863480338766, -0.012943268005585921], "mean": [3.0400028723830386, -2.5079096939951238, 0.7001156717786428, 0.0, 0.0, -0.13621094621712745, 0.54262099892473, 0.24785724761133163, -0.12337252393177467, 0.3811626328387847, -0.396050142968124, -0.02580462690642416, 0.00540868852523035, 0.04756504242841725, 0.026886910188820962, -0.026401887637647503], "std": [1.3253183154143129, 0.9508290290886058, 8.432805917409777e-05, 0.0, 0.0, 0.8034573124711368, 0.20363049007897102, 0.14929508203174804, 0.05118825533987738, 0.11215050550804714, 0.8431047182805138, 0.3328333977150056, 0.13459828323903902, 0.021595927449748538, 0.011308537503397664, 0.012023583868195905], "count": [1437]}, "action": {"min": [-1.0, -1.0, -0.6064285714285714, 0.0, -1.0, -1.0, -0.4875000000000001, -0.675, -0.06214285714285714, -0.3042857142857143, -0.5335714285714286, -1.0], "max": [0.9964285714285716, 1.0, 0.5207142857142857, 0.0, 1.0, 1.0, 0.40714285714285714, 0.9964285714285716, 0.11785714285714285, 0.1842857142857143, 0.19285714285714284, 1.0], "mean": [0.21974724127646875, 0.17616935083010243, -0.046492693110647035, 0.0, 0.12456506610995129, 0.00387091162143352, -0.005841783477482855, -0.00270653146436027, 0.002441097524604834, 0.001431553832388909, -0.004997017596182522, 0.0883785664578984], "std": [0.3712718220231895, 0.5132979334715734, 0.24287599078603403, 0.0, 0.9922114413294272, 0.2940224272029409, 0.07945879690321377, 0.2323202944438132, 0.012437500550207856, 0.051444123055098816, 0.06906312916909618, 0.9960869585487347], "count": [1437]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011134307831525803], "std": [0.10493014007806778], "count": [1437]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006958942240779402], "std": [0.02637062675225667], "count": [1437]}, "timestamp": {"min": [0.0], "max": [71.8], "mean": [35.9], "std": [20.74130339845273], "count": [1437]}, "frame_index": {"min": [0], "max": [1436], "mean": [718.0], "std": [414.8260679690545], "count": [1437]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1437]}, "index": {"min": [96819], "max": [98255], "mean": [97537.0], "std": [414.8260679690545], "count": [1437]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1437]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5241954857661745]], [[0.4762228315083986]], [[0.45411421885663417]]], "std": [[[0.16349107973575192]], [[0.1745820148682954]], [[0.19336755307652842]]], "count": [167]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5201682353783931]], [[0.517969606728065]], [[0.4794708957831121]]], "std": [[[0.16742041254544618]], [[0.1611151502530121]], [[0.17963332422867495]]], "count": [167]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5050363617462914]], [[0.5042201510782434]], [[0.465297629909643]]], "std": [[[0.1617589001850614]], [[0.16063503150695543]], [[0.17844844569139592]]], "count": [167]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [921]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [921]}, "observation.state": {"min": [4.775983821298343, -1.1081027442107847, 0.6999973312270452, 0.0, 0.0, 0.706232488155365, 0.7067592740058899, -0.016094366914181757, -0.36835246141097766, 0.011803581803094154, -0.9994063377380371, -0.6517388224601746, -0.2705933153629303, 4.895377060165629e-05, 0.014354837613099832, -0.04001712312762399], "max": [4.777882329218026, -1.106953893073217, 0.704116376070936, 0.0, 0.0, 0.7074540853500366, 0.7079799175262451, 0.6054098438683901, 0.3045477112252799, 0.6128631988142352, 0.9996631741523743, 0.3790322542190552, 0.26284047961235046, 0.22739450633525848, 0.04064822158780121, -0.012431732015901623], "mean": [4.776744992526653, -1.1077070637298418, 0.7020480342511077, 0.0, 0.0, 0.7071257793424442, 0.707087714819644, 0.32279788858638486, 0.026330105179272267, 0.3564563322452761, 0.18839416681231685, -0.09864280831542, -0.021478216961230583, 0.06573964021667364, 0.034907691441258715, -0.03168461033706294], "std": [0.00047862086767058205, 0.00046252106118453435, 0.001375552396798883, 0.0, 0.0, 0.0001648683255105174, 0.0001647754631106709, 0.17225244168649545, 0.22808652000167548, 0.1532070688381839, 0.9434179713098667, 0.2286314138480961, 0.06945091506886945, 0.053488319969708945, 0.00855837704558917, 0.010363199594604557], "count": [921]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.46428571428571436, -0.2857142857142857, -0.23142857142857146, -0.45999999999999996, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5857142857142857, 0.8357142857142857, 1.0, 0.1742857142857143, 0.26285714285714284, 0.36, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006646502249108097, -0.013572204125949982, -0.0199627733829689, -0.001845819761129205, 0.00558089033659066, -0.004212812160694895, -0.2747014115092291], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2663850560081134, 0.29689732345285036, 0.33832331196580995, 0.052071758997862344, 0.05097911179005006, 0.09104481907654016, 0.9615295806759399], "count": [921]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01737242192029953], "std": [0.13065457344055176], "count": [921]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010857763300760044], "std": [0.032933226684262976], "count": [921]}, "timestamp": {"min": [0.0], "max": [46.0], "mean": [23.0], "std": [13.293482112173118], "count": [921]}, "frame_index": {"min": [0], "max": [920], "mean": [460.0], "std": [265.86964224346235], "count": [921]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [921]}, "index": {"min": [98256], "max": [99176], "mean": [98716.0], "std": [265.86964224346235], "count": [921]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [921]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5212703894639277]], [[0.4608464885782144]], [[0.4329889315860579]]], "std": [[[0.27940758431030766]], [[0.22568154932351941]], [[0.2625650222483672]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6121241530066349]], [[0.5205322864008884]], [[0.4637116263678294]]], "std": [[[0.19940733797441862]], [[0.21951715524455678]], [[0.2508607007489921]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6296058493083153]], [[0.5363926594913729]], [[0.47830432354424335]]], "std": [[[0.1881897990617148]], [[0.20625430076484763]], [[0.2432182128495517]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [967]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [967]}, "observation.state": {"min": [2.1146642436934973, -2.6130891460596644, 0.6999963441425565, 0.0, 0.0, -0.025799037888646126, 0.9996671676635742, -0.2741325736791991, -0.6807745602754016, -0.031986368740880455, -0.9996040463447571, -0.45167049765586853, -0.27872663736343384, 7.83884825068526e-05, 0.009826084726492362, -0.040008366319226], "max": [2.534904415791742, -1.9586751367268418, 0.7012563979395259, 0.0, 0.0, -9.264686923415866e-06, 1.0, 0.4045672949282615, 0.07352710130317508, 0.6007364285821077, 0.9988929033279419, 0.47811833024024963, 0.34820568561553955, 0.20030103623867035, 0.04008286313983374, -0.012699700737920944], "mean": [2.5106180680271684, -2.088347947916287, 0.7003986746263452, 0.0, 0.0, -0.007056244034933606, 0.9999689396929223, 0.10181662862687299, -0.22132041554230855, 0.31896249380203767, -0.5350309783571632, 0.07261217811415521, -0.028290731956023673, 0.056510341530466815, 0.03339297056037425, -0.032179008366701914], "std": [0.08414652738142044, 0.06940168167038442, 0.00041526111039953066, 0.0, 0.0, 0.003514464915017618, 5.312293930079618e-05, 0.20704872851425782, 0.2512188579167384, 0.18180957900768666, 0.7848058977343715, 0.26371085569074915, 0.13127122065504196, 0.04218641877666788, 0.010963903958599953, 0.010918068869344637], "count": [967]}, "action": {"min": [-0.5571428571428572, -0.44464285714285723, -0.11142857142857143, 0.0, -1.0, -0.9803571428571428, -0.7714285714285715, -0.6053571428571428, -0.16285714285714287, -0.32571428571428573, -0.33, -1.0], "max": [0.6160714285714286, 0.8571428571428572, 0.07285714285714286, 0.0, 1.0, 0.8303571428571429, 1.0, 0.9535714285714285, 0.19714285714285715, 0.34714285714285714, 0.15, 1.0], "mean": [0.01652570542177574, 0.013279287930270344, -0.0005074604816073279, 0.0, -0.7786970010341262, -0.01872507017284682, 0.010344954941645744, -0.01706862165755654, 0.0024863347614123258, 0.0018436992170187602, -0.014288668931895412, -0.375387797311272], "std": [0.12346213597067128, 0.13593237814445217, 0.013664065662590156, 0.0, 0.6274001757892954, 0.2919742462458396, 0.3010856303571076, 0.2724881013404252, 0.04047549277149399, 0.06273737976817309, 0.060570454294510946, 0.9268678447490682], "count": [967]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016546018421649933], "std": [0.1275627315044403], "count": [967]}, "next.done": {"min": [false], "max": [true], "mean": [0.001034126163391934], "std": [0.032141200140475806], "count": [967]}, "timestamp": {"min": [0.0], "max": [48.3], "mean": [24.15], "std": [13.957435294494474], "count": [967]}, "frame_index": {"min": [0], "max": [966], "mean": [483.0], "std": [279.14870588988947], "count": [967]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [967]}, "index": {"min": [99177], "max": [100143], "mean": [99660.0], "std": [279.14870588988947], "count": [967]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [967]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6060288960255388]], [[0.549924096697752]], [[0.4912891714886623]]], "std": [[[0.2021348428228369]], [[0.21623088695558523]], [[0.2304079688806591]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6129706432263967]], [[0.5537074706368887]], [[0.4966350725244279]]], "std": [[[0.1535044588250526]], [[0.15703155631580462]], [[0.17162833275812603]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6280740462950117]], [[0.5768346020878133]], [[0.5235713644965037]]], "std": [[[0.15201551024110302]], [[0.15663587051537167]], [[0.17010783784595174]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [863]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [863]}, "observation.state": {"min": [1.3130353277889488, -1.3018030383013102, 0.6999988667900601, 0.0, 0.0, -0.9999984502792358, 0.0009131124243140221, 0.05523917542500689, -0.4100252090804253, -0.021556817572631837, -0.9984905123710632, -0.4978625178337097, -0.14460307359695435, 0.00016445349319837987, 0.009632739119521828, -0.04062039696419487], "max": [2.289259433190952, -0.7736951262916385, 0.7066767584517422, 0.0, 0.0, 0.9999996423721313, 0.7409170269966125, 0.4886481939798224, 0.21730922632373195, 0.5979924783911014, 0.9961901903152466, 0.03878103196620941, 0.09368044883012772, 0.09948080778121948, 0.04001777113120583, -0.009860946294155576], "mean": [1.8224653248234821, -1.036058342176359, 0.7047538240719826, 0.0, 0.0, 0.8199013111765387, 0.36465245678301617, 0.30551220448937955, -0.0605359654887638, 0.3351210376029598, -0.9042790817357989, -0.22206386362190594, -0.03390480816914125, 0.04873446699667982, 0.0283874616191559, -0.027794503868964954], "std": [0.39720019575113114, 0.21394490896389762, 0.0026934099845781563, 0.0, 0.0, 0.2738985599533955, 0.34607802489707984, 0.10775812315400239, 0.15448544466776729, 0.17373505899023334, 0.2963813505444714, 0.1880463206742591, 0.07525738094471535, 0.023987534324786185, 0.013451977538806946, 0.013537541115952388], "count": [863]}, "action": {"min": [-0.807142857142857, -0.9071428571428573, -0.9742857142857143, 0.0, -1.0, -1.0, -0.9928571428571428, -0.5785714285714286, -0.09428571428571429, -0.13428571428571429, -0.36, -1.0], "max": [0.6357142857142857, 0.6642857142857144, 0.7742857142857142, 0.0, 1.0, 0.6714285714285714, 1.0, 1.0, 0.07428571428571429, 0.15714285714285714, 0.24571428571428575, 1.0], "mean": [-0.0005297136235722668, -0.038933951332560834, -0.0017414335374938076, 0.0, -0.5851680185399768, -0.010395629862605518, 0.02281906969044861, -0.021718258566462527, -0.002251282900182089, 0.003059096176129779, -0.004231087568283398, -0.1633835457705678], "std": [0.15322910144182597, 0.13890401542987973, 0.1975286907623336, 0.0, 0.8109120729635277, 0.2707424779618327, 0.3131128602002683, 0.33271815819673456, 0.016189396993734957, 0.02845343759498314, 0.07971699146375179, 0.9865626269890017], "count": [863]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018539976328611374], "std": [0.13489344716072083], "count": [863]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011587485515643105], "std": [0.03402066803222062], "count": [863]}, "timestamp": {"min": [0.0], "max": [43.1], "mean": [21.549999999999997], "std": [12.456323695216017], "count": [863]}, "frame_index": {"min": [0], "max": [862], "mean": [431.0], "std": [249.12647390432033], "count": [863]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [863]}, "index": {"min": [100144], "max": [101006], "mean": [100575.0], "std": [249.12647390432033], "count": [863]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [863]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4152783696059417]], [[0.3603619434142757]], [[0.3338990015207487]]], "std": [[[0.2285861245772585]], [[0.2154698971753534]], [[0.21325334034506815]]], "count": [143]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38518192652696187]], [[0.3551361690737265]], [[0.3360150986732516]]], "std": [[[0.19795405101476157]], [[0.1894455133435821]], [[0.18510872159577668]]], "count": [143]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41265280255561304]], [[0.38171975059828345]], [[0.36092725801121367]]], "std": [[[0.21316335101653722]], [[0.20764765232580648]], [[0.20592425700624625]]], "count": [143]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [750]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [750]}, "observation.state": {"min": [1.1192775595182685, -0.9992383764674945, 0.6999969555849077, 0.0, 0.0, 0.6794628500938416, 0.7071579098701477, -0.16506872303819786, -0.6483716155066417, -0.02688650902242451, -0.9988487958908081, -0.3955700099468231, -0.18377235531806946, 0.0007408955716527998, 0.0011545053188398392, -0.04038207952916886], "max": [2.1192655263454014, -0.7570652120695169, 0.7023121452298275, 0.0, 0.0, 0.7070556282997131, 0.733709990978241, 0.40432793367289566, 0.009759812666027656, 0.5959484108377904, 0.9843608736991882, 0.39497703313827515, 0.30835580825805664, 0.16365046799182892, 0.04009386220420862, -0.0008197938651843841], "mean": [1.1498838620225336, -0.7802124228254789, 0.7009772748511982, 0.0, 0.0, 0.6998758512338003, 0.7142364539305369, 0.1602898326275246, -0.33687765355012605, 0.34396925542394335, -0.7031069626013438, -0.01680242248872916, 0.05051847199602829, 0.07016898007326139, 0.029358158710900455, -0.029501014170304155], "std": [0.14356775649395428, 0.05676291000639736, 0.0008141706045849177, 0.0, 0.0, 0.004562866426635508, 0.0043892962954780864, 0.18410778142953335, 0.20981231957914578, 0.1727096757452966, 0.6759750233468045, 0.15688341172186496, 0.12096483221361183, 0.04117465097368663, 0.013476785815348495, 0.01326523007935714], "count": [750]}, "action": {"min": [-0.3267857142857143, -0.03214285714285715, -0.12214285714285715, 0.0, -1.0, -0.675, -0.7071428571428573, -0.6535714285714286, -0.10928571428571428, -0.19500000000000003, -0.135, -1.0], "max": [0.6107142857142858, 1.0, 0.09642857142857142, 0.0, 1.0, 0.7017857142857142, 1.0, 0.6910714285714286, 0.08142857142857143, 0.2657142857142857, 0.18, 1.0], "mean": [0.032978571428571454, 0.045354761904761905, -0.0012142857142857153, 0.0, -0.7146666666666667, -0.0049285714285714575, -0.020988095238095337, -0.023614285714285727, -0.0002657142857142846, -0.0030142857142857137, 0.001177142857142853, -0.28], "std": [0.13210483256003128, 0.17736525735933176, 0.018861065609301488, 0.0, 0.6994651925260704, 0.2786636660483573, 0.31518392594039707, 0.2717681019260531, 0.022523384854548936, 0.0559400353147944, 0.04870953106247822, 0.960000000000004], "count": [750]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02266666665673256], "std": [0.14883846044540405], "count": [750]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013333333333333333], "std": [0.03649048582241069], "count": [750]}, "timestamp": {"min": [0.0], "max": [37.45], "mean": [18.724999999999998], "std": [10.82530792479672], "count": [750]}, "frame_index": {"min": [0], "max": [749], "mean": [374.5], "std": [216.5061584959344], "count": [750]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [750]}, "index": {"min": [101007], "max": [101756], "mean": [101381.5], "std": [216.5061584959344], "count": [750]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [750]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5717208632827372]], [[0.47353658220460704]], [[0.42452751869885735]]], "std": [[[0.22535171913821356]], [[0.24562371026546753]], [[0.26754039201080265]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.603076938735901]], [[0.5518081049226521]], [[0.5116025473353025]]], "std": [[[0.20088080601780656]], [[0.2444189855006913]], [[0.2596833953646374]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6118835074502629]], [[0.569247158536361]], [[0.5320048789898146]]], "std": [[[0.2036981857215878]], [[0.25957233262654056]], [[0.2780229864016956]]], "count": [206]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1218]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1218]}, "observation.state": {"min": [4.073134553569521, -2.903121758505911, 0.699997473079523, 0.0, 0.0, -0.04281631112098694, 0.7071601748466492, 0.13650824401774653, -0.352457415682202, 0.003597666044177883, -0.9986286759376526, -0.5291427373886108, -0.32181602716445923, 9.16516910365317e-06, 0.009607096515599264, -0.04169663804892032], "max": [5.362012829567502, -1.178542388368046, 0.7070167028260637, 0.0, 0.0, 0.7070533037185669, 1.0, 0.4769072479245562, 0.047669021958643865, 0.6036887918168227, 0.9943061470985413, 0.38572147488594055, 0.41821762919425964, 0.2789344787597656, 0.04006768464853606, -0.011674842860623955], "mean": [4.8042141303959545, -1.6627813505137807, 0.7055426194896736, 0.0, 0.0, 0.039827345769935324, 0.9871606607546751, 0.33010628576838025, -0.04548212665444557, 0.36694262053162524, -0.14547040936199118, -0.022224624235984335, 0.032420663891719013, 0.048858291255338075, 0.02877921167651658, -0.02920262887534086], "std": [0.5742193402954207, 0.6718526884404638, 0.002418327761362621, 0.0, 0.0, 0.14429327401786754, 0.05574133130872692, 0.06031985031072568, 0.07127207325145053, 0.1507153850738601, 0.9356473691720635, 0.25356330582637715, 0.18046043022160582, 0.05108696681983358, 0.013123379779343289, 0.012642848017873916], "count": [1218]}, "action": {"min": [-0.7214285714285715, -1.0, -0.8314285714285715, 0.0, -1.0, -1.0, -1.0, -0.7785714285714286, -0.3742857142857143, -0.7742857142857142, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.15428571428571428, 0.0, 1.0, 0.4928571428571429, 1.0, 1.0, 0.3314285714285714, 0.4314285714285714, 0.7057142857142857, 1.0], "mean": [0.027867698803659406, 0.04742552193291111, -0.02384471029791227, 0.0, -0.5024630541871922, 0.0009441707717569906, 0.0009089842833685263, 0.0010907811400422227, 0.0015012901712409086, 0.0015482054890921819, 0.006457893502228481, -0.19376026272577998], "std": [0.22211913397345737, 0.37183011035715496, 0.11619163412601839, 0.0, 0.8645986809941917, 0.17381921007349369, 0.1840609741464007, 0.3592776681754192, 0.05343881222419557, 0.09928757871439696, 0.09445376648031871, 0.981048908356993], "count": [1218]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013136289082467556], "std": [0.11385837197303772], "count": [1218]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008210180623973727], "std": [0.028641647853058137], "count": [1218]}, "timestamp": {"min": [0.0], "max": [60.85], "mean": [30.425], "std": [17.580309771635616], "count": [1218]}, "frame_index": {"min": [0], "max": [1217], "mean": [608.5], "std": [351.6061954327123], "count": [1218]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1218]}, "index": {"min": [101757], "max": [102974], "mean": [102365.5], "std": [351.6061954327123], "count": [1218]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1218]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5882859662246844]], [[0.4954141312689857]], [[0.4206736147955]]], "std": [[[0.22543834661189724]], [[0.25123686006243234]], [[0.271317623597638]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5018508188556046]], [[0.4406857912865913]], [[0.4031825820296242]]], "std": [[[0.2090190272804318]], [[0.23261138213758356]], [[0.24597409067632195]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5234635311102718]], [[0.4735880940303598]], [[0.44276801252911985]]], "std": [[[0.2130560414005991]], [[0.23277381939123865]], [[0.24091346704414887]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1267]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1267]}, "observation.state": {"min": [1.8204941987969343, -3.3015619119187494, 0.6999955983356065, 0.0, 0.0, -0.7374512553215027, 0.6754004955291748, 0.020983432445006667, -0.2636214015805778, 0.0075459880327677364, -0.9940969944000244, -0.5768197774887085, -0.22882144153118134, 8.596388943260536e-05, 0.0008734816243224963, -0.04018924946359095], "max": [2.8320619238745333, -1.0640492553765362, 0.7097555939485709, 0.0, 0.0, 0.49623969197273254, 1.0, 0.6154654699439722, 0.37442629651326653, 0.6281546700881586, 0.9902723431587219, 0.67653489112854, 0.180461585521698, 0.27516722679138184, 0.04117145333010943, 0.0005936628309524827], "mean": [2.4677344155168144, -2.334594282545902, 0.7063163350729825, 0.0, 0.0, 0.149532957961635, 0.8992183184943617, 0.23194608705108202, 0.04636038766002942, 0.3828172378571308, -0.8296860964070556, 0.2485645498548235, -0.06421408137546981, 0.050888349006222196, 0.03167543902207901, -0.031260846784556796], "std": [0.2080174252986906, 0.6295681856030646, 0.003362137698239815, 0.0, 0.0, 0.40203024344751026, 0.08612787024774327, 0.14230434323759142, 0.11579128653763057, 0.15706766050032445, 0.3998652133440998, 0.2719509668434425, 0.08632223982087057, 0.04269107734079023, 0.010979260475471554, 0.010741777492535753], "count": [1267]}, "action": {"min": [-1.0, -0.9714285714285714, -0.6457142857142857, 0.0, -1.0, -1.0, -0.8571428571428572, -0.6, -0.15142857142857147, -0.30285714285714294, -0.4028571428571428, -1.0], "max": [0.9857142857142858, 1.0, 0.4885714285714286, 0.0, 1.0, 0.807142857142857, 1.0, 1.0, 0.21714285714285717, 0.2742857142857143, 0.18285714285714286, 1.0], "mean": [0.033464877663772694, 0.047451798398917555, -0.021023790731762346, 0.0, -0.4080505130228887, -0.0006765136994024077, 0.009178035855226058, -0.0070019167888149755, 0.00261810801668734, 0.0039034840455519216, -0.011049723756906082, -0.2265193370165746], "std": [0.2656854950463248, 0.28958748243582083, 0.14683507333190754, 0.0, 0.9129593522286491, 0.31588367191734995, 0.2198279912052641, 0.33766209880864645, 0.028925657532571838, 0.05595208015227205, 0.0663571007118989, 0.974006668333213], "count": [1267]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012628255411982536], "std": [0.11166370660066605], "count": [1267]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007892659826361484], "std": [0.028082789068125013], "count": [1267]}, "timestamp": {"min": [0.0], "max": [63.3], "mean": [31.650000000000002], "std": [18.287564080543916], "count": [1267]}, "frame_index": {"min": [0], "max": [1266], "mean": [633.0], "std": [365.7512816108783], "count": [1267]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1267]}, "index": {"min": [102975], "max": [104241], "mean": [103608.0], "std": [365.7512816108783], "count": [1267]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1267]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6383216225281411]], [[0.5742267337387232]], [[0.5093126037006481]]], "std": [[[0.2221582032597175]], [[0.20623742812955842]], [[0.1960518647856402]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6051087359404299]], [[0.4964618826149036]], [[0.47134017061179]]], "std": [[[0.17910881387969863]], [[0.24729875730822412]], [[0.2480135908666023]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6366527291524785]], [[0.5187898350640614]], [[0.4895442530981001]]], "std": [[[0.17675992898311413]], [[0.24404547496705672]], [[0.2434293455374613]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [917]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [917]}, "observation.state": {"min": [1.0707984143991836, -5.3795824439192135, 0.6999989059876331, 0.0, 0.0, -0.018601493909955025, 0.999826967716217, -0.2588594343489967, -0.7343305224017307, -0.02124832280527611, -0.9976423382759094, -0.8659157752990723, -0.4458185136318207, 9.925952326739207e-05, 0.011157489400886008, -0.04106068725146093], "max": [1.2234843565966635, -5.029583945075454, 0.7075556824511562, 0.0, 0.0, -9.183487748032348e-08, 1.0, 0.4362106633620624, -0.010289154963976976, 0.5829324003738418, 0.9987697005271912, 0.8677917718887329, 0.5343589782714844, 0.37185758352279663, 0.040032709644605334, -0.01696517740979302], "mean": [1.217781363918745, -5.042060602767564, 0.7052813102974291, 0.0, 0.0, -0.017674314781531815, 0.999836524609261, 0.14821687664610445, -0.39690328608673014, 0.26916484009663344, -0.05477762167040368, 0.08731422387672874, -0.005743335811174353, 0.07738410000758009, 0.03299314639496785, -0.03395650364019525], "std": [0.028102856378340927, 0.04111774531382406, 0.0026226216327332637, 0.0, 0.0, 0.0038107095585103454, 3.723675057360686e-05, 0.20004444234065227, 0.22780573759905517, 0.15514332193772135, 0.886820293214418, 0.40612987943477086, 0.15394759830312654, 0.09089983633350851, 0.009928435783937097, 0.008878970827182765], "count": [917]}, "action": {"min": [0.0, 0.0, -0.12214285714285715, 0.0, -1.0, -0.9803571428571428, -1.0, -0.7714285714285715, -0.2014285714285714, -0.375, -0.4328571428571429, -1.0], "max": [0.6321428571428571, 0.7017857142857142, 0.0, 0.0, 1.0, 0.7017857142857142, 0.9642857142857142, 1.0, 0.1907142857142857, 0.2807142857142857, 0.12000000000000001, 1.0], "mean": [0.010813600249260008, 0.016468686711325755, -0.001114659604299735, 0.0, -0.8691384950926936, -0.014488238043308945, -0.03887287739523285, -0.03925845147219193, -0.00216388845614582, 0.008265306122448976, -0.030817884405670713, -0.4416575790621592], "std": [0.06371815907454431, 0.0891844849349252, 0.010383878041969705, 0.0, 0.49456877817751993, 0.2752833455913273, 0.3711244880603763, 0.30176249959256185, 0.05371126375054034, 0.08765204152676424, 0.08391475644744315, 0.8971836951577719], "count": [917]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017448199912905693], "std": [0.1309341937303543], "count": [917]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010905125408942203], "std": [0.03300489847420187], "count": [917]}, "timestamp": {"min": [0.0], "max": [45.8], "mean": [22.9], "std": [13.235747051073469], "count": [917]}, "frame_index": {"min": [0], "max": [916], "mean": [458.0], "std": [264.7149410214694], "count": [917]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [917]}, "index": {"min": [104242], "max": [105158], "mean": [104700.0], "std": [264.7149410214694], "count": [917]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [917]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.580429164701448]], [[0.5390907386803405]], [[0.5087517365730215]]], "std": [[[0.2641209675335065]], [[0.2651437420141846]], [[0.25968849699071894]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6222491455078125]], [[0.6267580751590315]], [[0.6031508325472459]]], "std": [[[0.19055385421739046]], [[0.18761536336769613]], [[0.18349849609998503]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6269271384476385]], [[0.6305518894569547]], [[0.6064952208653815]]], "std": [[[0.18874215666134594]], [[0.18550194792302807]], [[0.18010830585708837]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1094]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1094]}, "observation.state": {"min": [3.7426867418604037, -1.9045275503786008, 0.6999970654187141, 0.0, 0.0, -0.00017114599177148193, 0.7547052502632141, -0.1551107761929842, -0.20483228646371376, -0.019708718074246123, -0.998869001865387, -0.2137284278869629, -0.16225065290927887, 3.323178316350095e-05, 0.009360838473170244, -0.04000346019062521], "max": [4.395047647712724, -0.7794608135748811, 0.7020074223802857, 0.0, 0.0, 0.6560639142990112, 1.0, 0.43450250578250926, 0.643756368775408, 0.5894440710918208, 0.9746092557907104, 0.2916954457759857, 0.287297785282135, 0.2646150588989258, 0.04021792799688984, -0.009396386475456008], "mean": [4.201000062205407, -1.3533980762709685, 0.7005036435386767, 0.0, 0.0, 0.30417695516462645, 0.8940775453281576, 0.13189391938379877, 0.1776272641620854, 0.3695496434508314, -0.9239209736178082, 0.07621772705119315, 0.007198959149627127, 0.10671241258357193, 0.02966909301804395, -0.028925294860271303], "std": [0.1795167670350355, 0.5224509724079817, 0.0006563373787366611, 0.0, 0.0, 0.30833325091247593, 0.11415925311595475, 0.1646732721012372, 0.23951537283286253, 0.1513600558666387, 0.30705580346636113, 0.12229576325234871, 0.10813213893290817, 0.09049556887235648, 0.011337497985776303, 0.011787486882750789], "count": [1094]}, "action": {"min": [-0.8357142857142857, -0.6375000000000001, -0.0064285714285714285, 0.0, -1.0, -0.8410714285714286, -0.8410714285714286, -0.4714285714285715, -0.11357142857142859, -0.17785714285714288, -0.16071428571428573, -1.0], "max": [0.7821428571428571, 0.6321428571428571, 0.35571428571428576, 0.0, 1.0, 0.7553571428571428, 1.0, 0.8035714285714287, 0.10714285714285715, 0.18, 0.21000000000000002, 1.0], "mean": [0.054991512144162986, 0.004994776704100283, 0.03192935492295639, 0.0, -0.5191956124314442, -0.010562483677200338, 0.011119091146513467, -0.01161530425698613, 0.0018177069731000277, -2.1546095586318066e-05, -0.002452337424915117, -0.08957952468007313], "std": [0.22662554092365972, 0.127576067052971, 0.07804228162769139, 0.0, 0.8546554370223999, 0.24072176486807956, 0.2591598679012336, 0.23270528402435645, 0.022731554064992825, 0.04516474011711201, 0.038551791651234416, 0.9959796728639125], "count": [1094]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014625228941440582], "std": [0.1200471967458725], "count": [1094]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009140767824497258], "std": [0.030219881635862044], "count": [1094]}, "timestamp": {"min": [0.0], "max": [54.65], "mean": [27.325], "std": [15.790523265553933], "count": [1094]}, "frame_index": {"min": [0], "max": [1093], "mean": [546.5], "std": [315.81046531107864], "count": [1094]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1094]}, "index": {"min": [105159], "max": [106252], "mean": [105705.5], "std": [315.81046531107864], "count": [1094]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1094]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5130336978990591]], [[0.4602693528077988]], [[0.43079181012289824]]], "std": [[[0.2519438892679748]], [[0.2589117915154432]], [[0.2750922270497764]]], "count": [261]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4667851595147458]], [[0.4374851593918593]], [[0.4212059962705598]]], "std": [[[0.2324387853149846]], [[0.23625505169542493]], [[0.24691014904127043]]], "count": [261]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4798262122624732]], [[0.44426931100804784]], [[0.42439023191910413]]], "std": [[[0.24189942417589827]], [[0.2482088603793448]], [[0.26134647509481385]]], "count": [261]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1672]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1672]}, "observation.state": {"min": [3.088708141000322, -6.661558286550682, 0.6999961408415185, 0.0, 0.0, -1.0, 2.80907812566511e-07, 0.05812397001856473, -0.5297468863329837, -0.040869451427182346, -0.9998995065689087, -0.5245692729949951, -0.22521303594112396, 0.00013626211148221046, -0.0009337459525283895, -0.04158294921843783], "max": [3.651887694239705, -3.227036201975086, 0.7172338015919825, 0.0, 0.0, 1.0, 0.7022528648376465, 0.5366444055306996, 0.048479593215539296, 0.6058187125787303, 0.999417781829834, 0.5330540537834167, 0.34341299533843994, 0.12093015760183334, 0.040014295202609546, 0.0002524812686996532], "mean": [3.2121888737175084, -5.506726042153825, 0.7086019013753531, 0.0, 0.0, -0.08259553112909554, 0.3873652710711274, 0.2466301324683128, -0.13782271667443527, 0.35033363479842483, -0.3358470626424945, 0.0021631606157120477, -0.009586155355599044, 0.037201677145589654, 0.0236428383140448, -0.025300792504804895], "std": [0.11438076485355302, 1.2888077834158216, 0.004820085931106236, 0.0, 0.0, 0.8784374261489637, 0.267345882139293, 0.12870306537006096, 0.12453836568745093, 0.17590249686471282, 0.9123351051949711, 0.20090484459393668, 0.11140653291464028, 0.024427371526104528, 0.015434286422204459, 0.014881941547182607], "count": [1672]}, "action": {"min": [-1.0, -1.0, -0.842857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.23428571428571432, -0.2285714285714286, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.7342857142857143, 0.0, 1.0, 0.7142857142857143, 1.0, 1.0, 0.19142857142857142, 0.34285714285714286, 0.3857142857142858, 1.0], "mean": [0.06455485304169514, -0.012478639781271332, 0.013863636363636371, 0.0, -0.4354066985645933, -0.007595693779904307, 0.0022043745727956233, -0.02582450444292548, -0.0010184552289815455, 0.0027358168147641844, 0.0007997265892002783, 0.025119617224880382], "std": [0.24520674857067828, 0.3320685237641476, 0.17711885643425568, 0.0, 0.9002338623074994, 0.25769355570616104, 0.23876298199376364, 0.3434050273373536, 0.0362092529637327, 0.06288851455086918, 0.07179009687892329, 0.99968445263017], "count": [1672]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009569377638399601], "std": [0.09735401719808578], "count": [1672]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005980861244019139], "std": [0.024448484971255617], "count": [1672]}, "timestamp": {"min": [0.0], "max": [83.55], "mean": [41.775], "std": [24.13323693581116], "count": [1672]}, "frame_index": {"min": [0], "max": [1671], "mean": [835.5], "std": [482.6647387162232], "count": [1672]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1672]}, "index": {"min": [106253], "max": [107924], "mean": [107088.5], "std": [482.6647387162232], "count": [1672]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1672]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5465588995574087]], [[0.4719266388670811]], [[0.45572129958075897]]], "std": [[[0.2078236303319731]], [[0.23110134309206695]], [[0.24484623957888513]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39638951674872064]], [[0.3868837078152659]], [[0.3800062926160138]]], "std": [[[0.23460656747056474]], [[0.2312614763107593]], [[0.2335674684455648]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4137452496076375]], [[0.4067715851916034]], [[0.4014747580844766]]], "std": [[[0.2388876520224074]], [[0.2368303929743552]], [[0.2389446083589266]]], "count": [216]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1296]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1296]}, "observation.state": {"min": [0.7599219948433348, -2.912566644951353, 0.6999975939475138, 0.0, 0.0, -1.0, 8.5586123077519e-08, -0.18569130915076992, -0.7271200777811273, 0.050237372608267106, -0.9956998825073242, -0.44856587052345276, -0.3636704683303833, 3.3182303013745695e-05, -0.0008310600982358568, -0.0408719315434352], "max": [1.5219158589031165, -1.2102795726000828, 0.7030821907679621, 0.0, 0.0, 1.0, 0.39516961574554443, 0.7482398376010602, -0.0038821114628926345, 0.5967278114657444, 0.9944823980331421, 0.5916020274162292, 0.46073678135871887, 0.295376718044281, 0.04044206174835939, -0.012452982644457222], "mean": [0.8560447439805088, -1.8158869401267814, 0.7020777940847361, 0.0, 0.0, 0.9744167073549311, 0.10136692920626739, 0.1422655300162089, -0.3080069899319536, 0.3619598572042988, -0.2784347095883187, 0.14200176331387074, -0.03876488754334181, 0.07790379491643762, 0.03415906635093949, -0.03040020653972306], "std": [0.1591555182288194, 0.5016034289404696, 0.0009486919730994098, 0.0, 0.0, 0.12706416146763952, 0.1552145484201309, 0.229433601594542, 0.2559128978454993, 0.1569994985691535, 0.8901375956599155, 0.2868489083009121, 0.1294800230826917, 0.05784103279723264, 0.010582221344281443, 0.010459384077715848], "count": [1296]}, "action": {"min": [-1.0, -0.8892857142857145, -0.3364285714285714, 0.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.15642857142857142, -0.45428571428571435, -0.1457142857142857, -1.0], "max": [0.5839285714285714, 1.0, 0.05142857142857143, 0.0, 1.0, 1.0, 1.0, 0.6696428571428571, 0.17571428571428574, 0.32142857142857145, 0.26357142857142857, 1.0], "mean": [0.03559165564373896, 0.006790123456790132, -0.015644841269841267, 0.0, -0.5231481481481481, -0.005501818783068751, 0.002277612433862434, -0.022532242063491935, -0.0048941798941798936, -0.009054232804232802, -0.004494047619047623, -0.046296296296296294], "std": [0.21086943053434845, 0.2320819762715087, 0.05386508926817274, 0.0, 0.852241758592683, 0.3316031340853228, 0.25853638396178363, 0.23390234810456162, 0.03437764142463524, 0.07538008870443634, 0.048857328143503416, 0.9989277516163247], "count": [1296]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021604938432574272], "std": [0.14538970589637756], "count": [1296]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007716049382716049], "std": [0.0277670589744546], "count": [1296]}, "timestamp": {"min": [0.0], "max": [64.75], "mean": [32.375], "std": [18.70614315316406], "count": [1296]}, "frame_index": {"min": [0], "max": [1295], "mean": [647.5], "std": [374.1228630632812], "count": [1296]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1296]}, "index": {"min": [107925], "max": [109220], "mean": [108572.5], "std": [374.1228630632812], "count": [1296]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1296]}}} diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/info.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..73b867d190f2b66234672f6490efb2777a8b26bc --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 102, + "total_frames": 109221, + "total_tasks": 1, + "total_videos": 306, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:102" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/modality.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/stats.json b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..30fd041d862afe803d769e2521fc91cdf092d579 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 1.0 + ], + "std": [ + 0.0 + ], + "min": [ + 1.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 1.0 + ] + }, + "observation.state": { + "mean": [ + 2.588043689727783, + -2.2023751735687256, + 0.7046101093292236, + 0.0, + 0.0, + 0.17168208956718445, + 0.6308106780052185, + 0.2707153260707855, + -0.013355243019759655, + 0.35700246691703796, + -0.3329450786113739, + 0.10771439224481583, + -0.020611243322491646, + 0.05926628038287163, + 0.030313387513160706, + -0.02994294837117195 + ], + "std": [ + 1.6563178300857544, + 1.4090728759765625, + 0.005089974496513605, + 0.0, + 0.0, + 0.6857062578201294, + 0.3200892210006714, + 0.16787442564964294, + 0.2230900377035141, + 0.15964600443840027, + 0.8501317501068115, + 0.35509341955184937, + 0.146360382437706, + 0.058076780289411545, + 0.011967877857387066, + 0.012084072455763817 + ], + "min": [ + -2.2702252864837646, + -6.661558151245117, + 0.6999831199645996, + 0.0, + 0.0, + -1.0, + 0.0, + -0.2741325795650482, + -0.7605724930763245, + -0.04435119032859802, + -0.9999786019325256, + -0.9997815489768982, + -0.6284841299057007, + 8.942366207520536e-07, + -0.002905074506998062, + -0.04195529222488403 + ], + "max": [ + 6.091669082641602, + 0.22103632986545563, + 0.7330093383789062, + 0.0, + 0.0, + 1.0, + 1.0, + 0.8484349250793457, + 0.8074715733528137, + 0.755375325679779, + 0.9999644160270691, + 0.9996928572654724, + 0.6744639277458191, + 0.45786112546920776, + 0.04302287474274635, + 0.0018099197186529636 + ], + "q01": [ + -2.155057430267334, + -5.898444652557373, + 0.6999986171722412, + 0.0, + 0.0, + -0.9999957084655762, + 8.40387147036381e-05, + -0.10317014157772064, + -0.6230316758155823, + -0.0020283469930291176, + -0.9983803629875183, + -0.777965247631073, + -0.4219914972782135, + 0.0008177529089152813, + 0.005942416377365589, + -0.04019196331501007 + ], + "q99": [ + 5.801222801208496, + -0.7159835696220398, + 0.721547544002533, + 0.0, + 0.0, + 0.9999985694885254, + 1.0, + 0.6878451704978943, + 0.6221113204956055, + 0.6214784979820251, + 0.9971218705177307, + 0.8890013694763184, + 0.3901735842227936, + 0.26126354932785034, + 0.040162816643714905, + -0.006067629903554916 + ] + }, + "action": { + "mean": [ + 0.044538166373968124, + -0.0038097898941487074, + 0.006453903391957283, + 0.0, + -0.5374332666397095, + -0.006599683314561844, + 0.00014552799984812737, + -0.020079070702195168, + -0.0006503648473881185, + 0.0004874490841757506, + 0.0014731551054865122, + -0.16490419209003448 + ], + "std": [ + 0.24070459604263306, + 0.27745363116264343, + 0.1554281860589981, + 0.0, + 0.8433862328529358, + 0.2966276705265045, + 0.25331011414527893, + 0.3190455436706543, + 0.043307699263095856, + 0.0780576691031456, + 0.09492708742618561, + 0.986365020275116 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.5857142806053162, + -1.0, + -0.9800000190734863, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.5485714077949524, + 0.8057143092155457, + 1.0, + 1.0 + ], + "q01": [ + -0.7285714149475098, + -1.0, + -0.5428571701049805, + 0.0, + -1.0, + -1.0, + -0.8210715055465698, + -0.6910714507102966, + -0.1542857140302658, + -0.26571428775787354, + -0.3257142901420593, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.5885714292526245, + 0.0, + 1.0, + 0.6785714030265808, + 0.8785714507102966, + 1.0, + 0.14571428298950195, + 0.2378571480512619, + 0.3199999928474426, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.015427435748279095 + ], + "std": [ + 0.12324541807174683 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0009338863310404122 + ], + "std": [ + 0.03054528310894966 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 28.21980857849121 + ], + "std": [ + 18.035558700561523 + ], + "min": [ + 0.0 + ], + "max": [ + 92.5 + ], + "q01": [ + 0.5 + ], + "q99": [ + 74.8499984741211 + ] + }, + "frame_index": { + "mean": [ + 564.3961791992188 + ], + "std": [ + 360.7112121582031 + ], + "min": [ + 0.0 + ], + "max": [ + 1850.0 + ], + "q01": [ + 10.0 + ], + "q99": [ + 1497.0 + ] + }, + "episode_index": { + "mean": [ + 49.94366455078125 + ], + "std": [ + 30.07426643371582 + ], + "min": [ + 0.0 + ], + "max": [ + 101.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 101.0 + ] + }, + "index": { + "mean": [ + 54610.0 + ], + "std": [ + 31529.384765625 + ], + "min": [ + 0.0 + ], + "max": [ + 109220.0 + ], + "q01": [ + 1092.199951171875 + ], + "q99": [ + 108127.8046875 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/tasks.jsonl b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75e616cb4e23a4794fefc635e6552e979b9770d2 --- /dev/null +++ b/pretrain/composite/SetUpCuttingStation/20250729/lerobot/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Pick up the knife from the drawer and place it on the cutting board. Then place the meat from the plate to the cutting board."} +{"task_index": 1, "task": "SetUpCuttingStation"} diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/dataset_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c23ab11946ba42757c9318fcbbac1c4d1df4eb66 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "ToastOnCorrectRack", + "env_args": { + "type": 1, + "env_name": "ToastOnCorrectRack", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "ToastOnCorrectRack", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "ToastOnCorrectRack", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "19:21:42", + "total": 157830 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91f386dddf76f0e11eb2a44c49eafeb26636e257 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 29, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.8873801972572188, + 0.65 + ], + "offset": [ + 0.45630990137139055, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.8873801972572188, + 0.65 + ], + "offset": [ + 0.45630990137139055, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.438315016819371, + -0.8399561780265248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02462de8019a483a4d658b31d45a42526744b8f7 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,592 @@ +{ + "layout_id": 49, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.8743074602032155, + 0.65 + ], + "offset": [ + 0.3059442698983923, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8743074602032155, + 0.65 + ], + "offset": [ + 0.3059442698983923, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.315239082721883, + -1.172010484244322, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59a2848178cf920152d7910258cbd35b7ca2f858 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 57, + "style_id": 21, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.33998710121975506, + 0.65 + ], + "offset": [ + -0.41264059471406167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.2990269550197431, + 0.65 + ], + "offset": [ + -1.2261285224901286, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7820423994938643, + -1.2384533477330673, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da075ad2e410b80ec6d6cc88e62bb14958fc6358 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 22, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.410964766461525, + 0.65 + ], + "offset": [ + -0.5045176167692375, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.547169443247818, + 0.65 + ], + "offset": [ + 0.43641527837609095, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3522005940342336, + -0.8015207745372815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e259650c900315baaa29b84ce57ade62acc1cdcc --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 26, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8292066291656361, + 0.65 + ], + "offset": [ + -0.47539668541718194, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.4483587588715412, + 0.65 + ], + "offset": [ + 0.6658206205642294, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0792212006533581, + -0.8536689553583658, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9987e0eab5e8ebe7d93a0ce3ee0733f3454c19b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 42, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.9779202115981638, + 0.65 + ], + "offset": [ + 0.4385398942009181, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9779202115981638, + 0.65 + ], + "offset": [ + 0.4385398942009181, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8083304108892482, + -2.2113193562577913, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5702d1287363d437edaba42f5f5cf3bcda46c93d --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,592 @@ +{ + "layout_id": 49, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.3548853295914084, + 0.65 + ], + "offset": [ + -1.065655335204296, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun004/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6373297707522738, + 0.65 + ], + "offset": [ + 0.4244331146238631, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4383100742117527, + -1.1785230749642115, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c81b8da35585d820e0f7c3b625a9483c11cd4a2b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 26, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.6965070384886856, + 0.65 + ], + "offset": [ + 0.5417464807556572, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun004/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.5405757317695743, + 0.65 + ], + "offset": [ + -0.6197121341152129, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9648539634276956, + -0.8488009686818911, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27cf5e4f3e153fb5e272cfdee1382db6cb5d2667 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 20, + "style_id": 57, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2451585361738922, + 0.65 + ], + "offset": [ + -0.7099207319130539, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.950279850930859, + 0.65 + ], + "offset": [ + 0.8573600745345705, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.679993028056801, + -3.858117000543293, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e45ff66975039f2252e156142a09abda7d747df8 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.178491213803819, + 0.65 + ], + "offset": [ + 1.0554033916367973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.178491213803819, + 0.65 + ], + "offset": [ + 1.0554033916367973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.8377155602023185, + -6.497293912009311, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..514ec6046f6f2671afbccd84a619735195d4555b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 21, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0129386319157536, + 0.65 + ], + "offset": [ + 0.8260306840421232, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1580804684279289, + 0.65 + ], + "offset": [ + -0.7534597657860356, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.569227579802913, + -3.864215106572321, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44274b2dfbc7d4b7a0a4661931ad863034791653 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1258097310227007, + 0.65 + ], + "offset": [ + -0.7695951344886497, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1258097310227007, + 0.65 + ], + "offset": [ + -0.7695951344886497, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.856210997800257, + -3.8607194760340113, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5f4b6c7faa03f6d8562365a52a0e6a8deafe02c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 50, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.34136576248196454, + 0.66078 + ], + "offset": [ + 0.4817936187590177, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5813857023021307, + 0.66078 + ], + "offset": [ + -0.36178364884893466, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8736518248920434, + -2.2431755397402067, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40f7f49a0b6cc54632ab7d88341f5116cb0d33e9 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 59, + "style_id": 57, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4152784853565754, + 0.65 + ], + "offset": [ + 0.32289325732171237, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4152784853565754, + 0.65 + ], + "offset": [ + 0.32289325732171237, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2989838952323034, + -0.9615461536691526, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be19dc32105a877f02abe6f802746bf145a014f1 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 28, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9149257044380008, + 0.65 + ], + "offset": [ + 0.8060376857180059, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9149257044380008, + 0.65 + ], + "offset": [ + 0.8060376857180059, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.743859904743299, + -0.8019701788412433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a76b6dfe84343d1656f62f19302d5965603d1f5 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.40568627544259117, + 0.65 + ], + "offset": [ + -0.6771568622787044, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.892447934266752, + 0.65 + ], + "offset": [ + 0.43377603286662403, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8110928262264832, + -1.8705156679718415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c71ef4035b680b738e7ae9f4d434a00699ab6d1 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 14, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.39190322029488756, + 0.65 + ], + "offset": [ + -0.6840483898525562, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8656621677422898, + 0.65 + ], + "offset": [ + 0.4471689161288551, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.797863056883035, + -1.847619050518785, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e95bb824a17487a0a494ce3688f0450db61b64bd --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.278136147265427, + 0.65 + ], + "offset": [ + 1.0423946642672066, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.278136147265427, + 0.65 + ], + "offset": [ + 1.0423946642672066, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.882909239306043, + -6.683068558504935, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cadb7a12a6cc1dbdfd5f7bb673c0c501548a21a --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 42, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9086275364955179, + 0.65 + ], + "offset": [ + 0.47318623175224106, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.40345523376274195, + 0.65 + ], + "offset": [ + -0.725772383118629, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8349447799227803, + -2.134954650234467, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d67d527c8b980db4aa6a7a77161d2a62c17a774d --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 16, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.534547124734601, + 0.65 + ], + "offset": [ + 0.881649260451253, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.534547124734601, + 0.65 + ], + "offset": [ + 0.881649260451253, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.265639646664512, + -4.797066184134165, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33aab0a18921d71c2c6af102417320d32d42d8b7 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 22, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5502353623989189, + 0.65 + ], + "offset": [ + -0.4348823188005405, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.40789884731042414, + 0.65 + ], + "offset": [ + 0.5060505763447879, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6797992247942592, + -0.7885459336871563, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec86d9de3616e8a350e42eaa06832cd6ba8a1a41 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 50, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.4954466610155166, + 0.66078 + ], + "offset": [ + 0.4047531694922417, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.34764054869382655, + 0.66078 + ], + "offset": [ + -0.47865622565308674, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8380886059947714, + -2.392463063735466, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..811c2f1e260e0ac9a0647c9d62fc66ec9209aea2 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 28, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1190339563720575, + 0.65 + ], + "offset": [ + 0.7427316278525422, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1190339563720575, + 0.65 + ], + "offset": [ + 0.7427316278525422, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.567647761801541, + -0.8217537257194031, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..111096f81c1384bfd0ba649f72653d671fa47f03 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 30, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.7863950020573172, + 0.65 + ], + "offset": [ + -0.3068024989713414, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7863950020573172, + 0.65 + ], + "offset": [ + -0.3068024989713414, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8467960338461921, + -3.324738804593449, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6aafd55b5bc3aaf32204414b0d16c8ce6b6fe1db --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 38, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.39624609521433685, + 0.65 + ], + "offset": [ + 0.46537695239283156, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.5041675477492144, + 0.65 + ], + "offset": [ + -0.4114162261253928, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8414780203812351, + -5.321017637871787, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf851642d97b2f21b1ff4781da3ff3393a3a34c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 30, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7911041843810525, + 0.65 + ], + "offset": [ + -0.3044479078094737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.7911041843810525, + 0.65 + ], + "offset": [ + -0.3044479078094737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8201766001151479, + -3.2378070721774903, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b32e66200fb4d2c56ced876a21fcf8581cce3c4 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 20, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2066043151566384, + 0.65 + ], + "offset": [ + -0.7291978424216808, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2066043151566384, + 0.65 + ], + "offset": [ + -0.7291978424216808, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.739888468965268, + -3.901070361119937, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0d1568214aebb068bdbe4f68f10f36c8008367f --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 56, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.9509575352620083, + 0.65 + ], + "offset": [ + 0.31419473236899575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9509575352620083, + 0.65 + ], + "offset": [ + 0.31419473236899575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.005508060597593, + -0.7844714692466361, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f37a62e15f1ba1eb75014750119e6026e7cce7 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 14, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7929412004219378, + 0.65 + ], + "offset": [ + -0.4835293997890311, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.7929412004219378, + 0.65 + ], + "offset": [ + -0.4835293997890311, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8025765921805594, + -1.3673930964909167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d95100826b623d4c6cccd8c176c6a6e9ce4560c0 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 51, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.412510009595772, + 0.65 + ], + "offset": [ + 0.48513899520211395, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.508412200113571, + 0.65 + ], + "offset": [ + -0.43718789994321444, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.276069732819254, + -3.801373064769509, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4e86c6b32b27d684e0dccb27a34b4c287bef6e --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 40, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7250849183636993, + 0.65 + ], + "offset": [ + 0.4322575408181503, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.32159785189456047, + 0.65 + ], + "offset": [ + -0.6340010740527198, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9772750214318082, + -0.8025225493984971, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f48739508a7997f2e662d6a48d2448a4c5b561ca --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 28, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9456153706164138, + 0.65 + ], + "offset": [ + 0.6560223349747203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9456153706164138, + 0.65 + ], + "offset": [ + 0.6560223349747203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.557303109031595, + -0.8356762370134065, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d86eae6a27f7269e97c475a12a54b9017ffcffbf --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 59, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4259824052872965, + 0.65 + ], + "offset": [ + 0.3175412973563518, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4259824052872965, + 0.65 + ], + "offset": [ + 0.3175412973563518, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3734736348858323, + -0.9558571282943398, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62de3ce04cdef0e4d4286f95cd1c244b91ff577d --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 28, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.856849992553711, + 0.65 + ], + "offset": [ + 0.776999829775861, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.856849992553711, + 0.65 + ], + "offset": [ + 0.776999829775861, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.462651802749513, + -0.7928342674904627, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9970c3226ac9c778218566de9a65d03abd842720 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 20, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.2640903205689296, + 0.65 + ], + "offset": [ + -0.7004548397155352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9527464077213952, + 0.65 + ], + "offset": [ + 0.8561267961393024, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.486394817491503, + -3.849216383775506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17e3945ecdd1b78e9ff2ac9a052ab4d7fb129bf6 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 24, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3398067970381093, + 0.65 + ], + "offset": [ + 0.7230966014809453, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9843274126712338, + 0.65 + ], + "offset": [ + -0.9008362936643831, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.118792253714745, + -0.8387365177988407, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef56d2a06928cf7d1ea41f749bfbe3f60ec09d8b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 31, + "style_id": 57, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0679548538683057, + 0.65 + ], + "offset": [ + 0.937304017568646, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.3091579426019524, + 0.65 + ], + "offset": [ + 2.0954220286990237, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.900694386341893, + -6.589798126398676, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1220dc26dedcd2c3a7bf1ce620bda548374b0ce9 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,565 @@ +{ + "layout_id": 23, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.37841171275125823, + 0.65 + ], + "offset": [ + 0.3827941436243708, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.38338675203283684, + 0.65 + ], + "offset": [ + -0.3803066239835815, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8100459637493181, + -1.3189346656032597, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b169142f344ac124a3d3b20710944438c52280af --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 34, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.148475307590834, + 0.65 + ], + "offset": [ + -0.6169015320553102, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.148475307590834, + 0.65 + ], + "offset": [ + -0.6169015320553102, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8449551368293382, + -3.9152902793660282, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4a8a5529f478ea857a3b51db549e2d84231304 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.2205920495302867, + 0.65 + ], + "offset": [ + 0.7222039752348567, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.9825421601790565, + 0.65 + ], + "offset": [ + -0.8412289199104718, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.927156032530836, + -3.8875882146422454, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9344872b1af90678d9218f057a986f258af4fbd --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 11, + "style_id": 21, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5834359648933375, + 0.65 + ], + "offset": [ + -0.27378201755333126, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.5834359648933375, + 0.65 + ], + "offset": [ + -0.27378201755333126, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2941254295110465, + -0.8203528314099795, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5b4e0bbf343a64c647c61af706a7f7c9b11d15 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1370631970084029, + 0.65 + ], + "offset": [ + 0.9845335628127962, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1370631970084029, + 0.65 + ], + "offset": [ + 0.9845335628127962, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.881781566600336, + -6.570348166395587, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b077c030b50283b1931838d74dabf1eab63610 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 26, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.670794875711363, + 0.65 + ], + "offset": [ + 0.5546025621443185, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.670794875711363, + 0.65 + ], + "offset": [ + 0.5546025621443185, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8581163055120437, + -0.8311222598783893, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..452b6c6afe785a396ff6a1a1c5d2d47b2e54eac5 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 29, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.9082213581953351, + 0.65 + ], + "offset": [ + 0.44588932090233235, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.9082213581953351, + 0.65 + ], + "offset": [ + 0.44588932090233235, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4191411242390544, + -0.8177264060805536, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a3640d549c2601eb9875f5e6209263039a7bc4d --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 30, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8191642712263998, + 0.65 + ], + "offset": [ + -0.29041786438680006, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.8191642712263998, + 0.65 + ], + "offset": [ + -0.29041786438680006, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.819292014090933, + -3.1742101967391627, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c6181967879a4371c28f391ad27a142892d4ae --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 26, + "style_id": 44, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9147324354325718, + 0.65 + ], + "offset": [ + 0.43263378228371413, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9147324354325718, + 0.65 + ], + "offset": [ + 0.43263378228371413, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom tray in the toaster oven and place the chicken drumstick on the top tray.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7784744001697921, + -0.8257578287953877, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1bdb5ac8be3036dd29195807296f40edb6cac68 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 56, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.9980488106835788, + 0.65 + ], + "offset": [ + 0.29064909465821054, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9980488106835788, + 0.65 + ], + "offset": [ + 0.29064909465821054, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7663454550029147, + -0.8008950443079326, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c797d6a8089fec28bcc1d0fadf95d3b70b3095d --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 49, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.9646701614800317, + 0.65 + ], + "offset": [ + 0.2607629192599842, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9646701614800317, + 0.65 + ], + "offset": [ + 0.2607629192599842, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3911089652547806, + -1.1390596111948486, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a72dd61a4ce071e91c76500dcb9c072a49113254 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 24, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.366915477000346, + 0.65 + ], + "offset": [ + 0.709542261499827, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9166499110368314, + 0.65 + ], + "offset": [ + -0.9346750444815843, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.017368986636626, + -0.8487272398177471, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f589643c289e6affee2707aea85d26bcbc3cec3 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 15, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7322543142112257, + 0.65 + ], + "offset": [ + -0.8338728428943871, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.2755645984302015, + 0.65 + ], + "offset": [ + 0.5622177007848992, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.555432404101621, + -5.652144713410056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cecbed47dd6684f4a81884cc1da0bb8a713cab27 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 51, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5155620683071765, + 0.65 + ], + "offset": [ + -0.4336129658464117, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.4053601414021665, + 0.65 + ], + "offset": [ + 0.4887139292989167, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.293514250654392, + -3.8490606977970576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2497c132c9970e4b09d19443f4939c26e2b963f3 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 22, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.5328840948151516, + 0.65 + ], + "offset": [ + 0.44355795259242414, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.4252501148941914, + 0.65 + ], + "offset": [ + -0.49737494255290426, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5173216016211253, + -0.8223401135070408, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..576989a4179083cf98c6efdfd0f5964e61ef70be --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 58, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9557268479786645, + 0.65 + ], + "offset": [ + -0.2640971980131517, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.9557268479786645, + 0.65 + ], + "offset": [ + -0.2640971980131517, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.614644779664427, + -0.7948976092845027, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..efb77006971de9351b3fee54c3e95b890a0d62e1 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,545 @@ +{ + "layout_id": 51, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7610696761695744, + 0.65 + ], + "offset": [ + 0.31085916191521273, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7610696761695744, + 0.65 + ], + "offset": [ + 0.31085916191521273, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.226705242019684, + -3.421994180875172, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36c7b96eece6c34af9d774f07f1f90c52ae9458f --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 11, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.6153397651216153, + 0.65 + ], + "offset": [ + -0.2578301174391924, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6153397651216153, + 0.65 + ], + "offset": [ + -0.2578301174391924, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.469901311626365, + -0.8106625406888579, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61dd72631ab46fac9bb78681e7b8e4a412f28b6c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 22, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6402287517311229, + 0.65 + ], + "offset": [ + 0.3898856241344385, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.3179054579782201, + 0.65 + ], + "offset": [ + -0.5510472710108899, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1617753035851184, + -0.780544661463264, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b900fb84918f08ff496913b989dfc22274ac296 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1523159702813552, + 0.65 + ], + "offset": [ + 0.9576608211703169, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1523159702813552, + 0.65 + ], + "offset": [ + 0.9576608211703169, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.894904174474452, + -6.502619589854757, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f91177c709af3145e254050c0a608af0acbae03 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.5250420291173645, + 0.65 + ], + "offset": [ + 0.6174789854413177, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7325233589198128, + 0.65 + ], + "offset": [ + -0.5137383205400936, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8148146611319481, + -1.5148270591086974, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d54a07c41e6be53622627cfe784af9fa7704d806 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.4584914015142696, + 0.65 + ], + "offset": [ + 0.6507542992428652, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7990739865229077, + 0.65 + ], + "offset": [ + -0.48046300673854614, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8260745866264066, + -1.4468348172463257, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d59f3afde801d8fe9c335f1df33163b3e0e79c5c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 56, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7272006684542207, + 0.65 + ], + "offset": [ + 0.42607316577288956, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.40398305983610383, + 0.65 + ], + "offset": [ + -1.087681970081948, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.251951243634548, + -0.8198143935626571, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..599eb4a6b85e20727f96488fd4d638a06763dfa0 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 50, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.4351333220998389, + 0.66078 + ], + "offset": [ + 0.43490983895008056, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.40795388760950424, + 0.66078 + ], + "offset": [ + -0.4484995561952479, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8769777517793124, + -2.3442677685105666, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1038e68afdf9594d251882007112d32ca4b62bce --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8349131101173305, + 0.65 + ], + "offset": [ + -0.9150434449413347, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.336105990226352, + 0.65 + ], + "offset": [ + 0.6644470048868241, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.920861777437635, + -3.867391723744514, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f1cc851e1a0f4255b84e5ce899882ea1bf5b72 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,679 @@ +{ + "layout_id": 39, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.5306799940125062, + 0.65 + ], + "offset": [ + -1.359660002993747, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.337118470771589, + 0.65 + ], + "offset": [ + 0.4564407646142056, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6548633794034617, + -5.538456979322686, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9231b0e6f1e8ebc6753b9ced72ce4a8750d8d1ec --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 14, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8135098829216574, + 0.65 + ], + "offset": [ + -0.4732450585391713, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8135098829216574, + 0.65 + ], + "offset": [ + -0.4732450585391713, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8348914751713967, + -1.2818569862788305, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b1e7f89f1e3896e66d60e407f90a26fcf51035 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 24, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.096917837664522, + 0.65 + ], + "offset": [ + 0.844541081167739, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.096917837664522, + 0.65 + ], + "offset": [ + 0.844541081167739, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.292201138829311, + -0.7994724410034248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa79d0824188e97864b1b02f9e78e26ebfad192a --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 42, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.2915876209893762, + 0.65 + ], + "offset": [ + 0.2817061895053119, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.2915876209893762, + 0.65 + ], + "offset": [ + 0.2817061895053119, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7781250323071195, + -2.460039585626601, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6abd5b91d149e2603692fec657fab55ba990b3e2 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1758529832927587, + 0.65 + ], + "offset": [ + -0.7445735083536207, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0969659293486687, + 0.65 + ], + "offset": [ + 0.7840170353256657, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.72393168312447, + -3.887422762816178, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83a18a25b81acd8aee54f2cceade2a37758f3835 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 29, + "style_id": 44, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.2631879776557193, + 0.65 + ], + "offset": [ + 0.2684060111721403, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.2631879776557193, + 0.65 + ], + "offset": [ + 0.2684060111721403, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom tray in the toaster oven and place the chicken drumstick on the top tray.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1012964540447987, + -0.8189081366945086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b884cb63b7cc5e6a53e11100a277a7d718b40278 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 42, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2877958075507236, + 0.65 + ], + "offset": [ + 0.2836020962246382, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.2877958075507236, + 0.65 + ], + "offset": [ + 0.2836020962246382, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7735575490305419, + -2.6678644642833853, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b734a1b47883cb49b887b5f529775f01ccf7fbc4 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 38, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8404793432276123, + 0.65 + ], + "offset": [ + 0.2432603283861938, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8404793432276123, + 0.65 + ], + "offset": [ + 0.2432603283861938, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7960760787665184, + -5.745238996312809, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..735f7f1bf9ed85830e24c1592e4e9c4f8cd89286 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.426369093016582, + 0.65 + ], + "offset": [ + -0.619315453491709, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.426369093016582, + 0.65 + ], + "offset": [ + -0.619315453491709, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.377284908668866, + -3.9042262451597467, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8921ea8fd9bc97409fdd78165560c9251934921f --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 25, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3338722743508074, + 0.65 + ], + "offset": [ + -1.5160638628245962, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8786311279089224, + 0.65 + ], + "offset": [ + 0.08416873796158636, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8007498691056291, + -3.5688948212510807, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6c92381460f140a137760cb0274f5d85f9224f --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 27, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1751213448650293, + 0.65 + ], + "offset": [ + -0.28643932756748536, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.1751213448650293, + 0.65 + ], + "offset": [ + -0.28643932756748536, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8036075333536135, + -1.0192821651287147, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9597100505400f68825751384f6632a605ca19a --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 16, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.683701105391263, + 0.65 + ], + "offset": [ + 0.956226250779584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.683701105391263, + 0.65 + ], + "offset": [ + 0.956226250779584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2828450254977968, + -5.11522042248882, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf281a5a8e77313494e3f23199e1afbd7c42577 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,701 @@ +{ + "layout_id": 25, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.919321798016179, + 0.65 + ], + "offset": [ + 0.20774445132539676, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5389024649587344, + 0.65 + ], + "offset": [ + -1.4135487675206326, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7862328252511505, + -3.2105669102244216, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52cd635e0d286a6a2099f9f306a524140734aa85 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 56, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.3362927092201352, + 0.65 + ], + "offset": [ + -1.1215271453899323, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.8164679337434158, + 0.65 + ], + "offset": [ + 0.381439533128292, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9546915211295204, + -0.795401535103214, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46c73525f63f8c0015571d085a57125cbf5f16f9 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 59, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.48699004035029203, + 0.65 + ], + "offset": [ + -0.7870374798248541, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1474886026132594, + 0.65 + ], + "offset": [ + 0.4567881986933704, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7177341002025697, + -0.8960567716348726, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63caae921f4e42ed1c277f66bb0c192a9983aae1 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.276997332143165, + 0.65 + ], + "offset": [ + 0.6940013339284176, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8855680558940124, + 0.65 + ], + "offset": [ + -0.8897159720529938, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.043124710305117, + -3.8981180481637634, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6cc00431723e025cf520bf54ee62d09c5643afb --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 28, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9991811219013382, + 0.65 + ], + "offset": [ + 0.8481653944496746, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9991811219013382, + 0.65 + ], + "offset": [ + 0.8481653944496746, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.720369455697719, + -0.8151560963266071, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5922c67902580f49fcd6ab855eae4c9c70d96e74 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 27, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1921231233761154, + 0.65 + ], + "offset": [ + -0.2779384383119423, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1921231233761154, + 0.65 + ], + "offset": [ + -0.2779384383119423, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8034298001018985, + -0.9980003420939847, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eff75c18bc7ee963cedb753723981041572bc6a9 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 29, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.4155312706171055, + 0.65 + ], + "offset": [ + -1.1922343646914473, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.936305457673219, + 0.65 + ], + "offset": [ + 0.4318472711633904, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.433759333175961, + -0.8150355510201035, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9f208a90d22cd84cc7ad332edb672c41b244b2 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 26, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.801148777705703, + 0.65 + ], + "offset": [ + -0.4894256111471485, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun004/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.801148777705703, + 0.65 + ], + "offset": [ + -0.4894256111471485, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9786131560710638, + -0.8259206618453319, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..038cc73fde1d8cea0684b6c5f3b7eb89235b0ead --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 29, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.3625726567149288, + 0.65 + ], + "offset": [ + -1.2187136716425355, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.9755615529944142, + 0.65 + ], + "offset": [ + 0.41221922350279283, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.197838354845028, + -0.8110167266789595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bc5334480deb7e4708cbbda37ee68a547ef57b3 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 11, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.5673866621533759, + 0.65 + ], + "offset": [ + -0.2818066689233121, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.5673866621533759, + 0.65 + ], + "offset": [ + -0.2818066689233121, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2111883768213425, + -0.8388850327928611, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90f52211e03e8ba026456210bda378fa888a1ebb --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 25, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5311072443500635, + 0.65 + ], + "offset": [ + 0.29836392734333506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.7133756932054804, + 0.65 + ], + "offset": [ + -1.3263121533972595, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7757701481978446, + -2.97241826170369, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd367f483dea0e415dd654a75a13fa80d71c7d3 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 38, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.31356668653208, + 0.65 + ], + "offset": [ + -0.50671665673396, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.5109987015050973, + 0.65 + ], + "offset": [ + 0.40800064924745133, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8056089936180955, + -5.620790800313793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8afdff23b8fd3eb961adfaea676dfd0b6ba8c82f --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 30, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.720189577116537, + 0.65 + ], + "offset": [ + -0.33990521144173147, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.720189577116537, + 0.65 + ], + "offset": [ + -0.33990521144173147, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8277428855121828, + -3.1117779824563625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad64994ad552754f0a8bbe6fc2826e73668bb199 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 56, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.4728576010359814, + 0.65 + ], + "offset": [ + -1.0532446994820093, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.6583261272543433, + 0.65 + ], + "offset": [ + 0.46051043637282835, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.2689690550562425, + -0.7750724974849121, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3522be645343dee72d5c4adb5ccbf3f5af7cb645 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 33, + "style_id": 24, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0881651415824742, + 0.65 + ], + "offset": [ + 0.2559174292087629, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0881651415824742, + 0.65 + ], + "offset": [ + 0.2559174292087629, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.4259133475222885, + -0.8374432438097991, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da0190986940baed7a5ddfbd7976ad723638246a --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6976021747550762, + 0.65 + ], + "offset": [ + -0.5311989126224619, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6005320349542669, + 0.65 + ], + "offset": [ + 0.5797339825228666, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8336224452216519, + -1.5984602563411063, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa016ebd8b2aff4e8062a58de82f370bfca9b030 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 25, + "style_id": 25, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5038024689093192, + 0.65 + ], + "offset": [ + -1.4310987655453402, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun004/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.6628942593810052, + 0.65 + ], + "offset": [ + 0.1004128703094973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.825946167596333, + -3.1311616538759925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b68306e759f401ab74ee0c1a3e8541df457ada16 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 16, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.6800183650556344, + 0.65 + ], + "offset": [ + 0.9758240160268229, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.6800183650556344, + 0.65 + ], + "offset": [ + 0.9758240160268229, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2351356822376034, + -5.139070786374269, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2473e5b22173ed4d402d3cd1c0efde13c66acc --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.7081347784265274, + 0.65 + ], + "offset": [ + -0.5259326107867363, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.5578843219171549, + 0.65 + ], + "offset": [ + 0.6010578390414225, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7794215697106563, + -1.3564956300561628, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7dd2d462c79ca4c10673e1402b2897fd9afd25b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,572 @@ +{ + "layout_id": 43, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.38300110888987404, + 0.65 + ], + "offset": [ + 0.345749445555063, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.29931780375155337, + 0.65 + ], + "offset": [ + -0.3875910981242233, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.28231126984013, + -1.009845954462191, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f06c22cd3e55d004f2b53b0c47a2c9ac3757a137 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 27, + "style_id": 55, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.1682723993932482, + 0.65 + ], + "offset": [ + -0.28986380030337594, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1682723993932482, + 0.65 + ], + "offset": [ + -0.28986380030337594, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8061894221422955, + -1.0418752943958653, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..677e1fb343de1e4da4482bef88d584b95e1c504e --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 14, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.47746310380136847, + 0.65 + ], + "offset": [ + 0.6412684480993158, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7885559965423138, + 0.65 + ], + "offset": [ + -0.4857220017288431, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.820143900953083, + -1.2175700821919462, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28ca3117cc44c3b426196d62875ac896035860d5 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 20, + "style_id": 23, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1171594038461587, + 0.65 + ], + "offset": [ + -0.7739202980769206, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_2", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1656390609379366, + 0.65 + ], + "offset": [ + 0.7496804695310317, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.869416776945437, + -3.841683146338953, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96d2472ff7b2e04f48f43087ba77bd0b1eeb40e2 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 37, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3319958552613091, + 0.65 + ], + "offset": [ + 0.9841898058905475, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3319958552613091, + 0.65 + ], + "offset": [ + 0.9841898058905475, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.835865636317193, + -6.730634872871982, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9c4d9a5d9e5a5e9df38747d239129d2155401c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 33, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0168071102911718, + 0.65 + ], + "offset": [ + 0.2915964448544142, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0168071102911718, + 0.65 + ], + "offset": [ + 0.2915964448544142, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.4345022746612414, + -0.8304498052772842, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d168dd438287241b21f936030389b889dd1c190 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 42, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.4044025228453916, + 0.65 + ], + "offset": [ + -0.7252987385773042, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9566165774982907, + 0.65 + ], + "offset": [ + 0.44919171125085466, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8136688991302219, + -2.207321338859653, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c165f7ede5f4a36fa6e447ec58142e1cced2e03b --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 34, + "style_id": 20, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0099155564242606, + 0.65 + ], + "offset": [ + -0.6986215831797234, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0099155564242606, + 0.65 + ], + "offset": [ + -0.6986215831797234, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8402123814886998, + -3.9439407281909324, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6f160681ccc66ee0c02561827bc0c6c14c0e36 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 31, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2085206953417922, + 0.65 + ], + "offset": [ + 1.0075869383053893, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.2085206953417922, + 0.65 + ], + "offset": [ + 1.0075869383053893, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.860463539247187, + -6.639468799263985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "bread_rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fa778b2ef627574aa3e4e7e08287b51223abc5 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 34, + "style_id": 36, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0508189541004727, + 0.65 + ], + "offset": [ + -0.6532080676847297, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_food", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.75, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0508189541004727, + 0.65 + ], + "offset": [ + -0.6532080676847297, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "exclude_obj_groups": [ + "fish", + "shrimp" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8033796858303011, + -3.909363774868894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "bread_rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/embodiment.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes.jsonl b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7abfa8a77edc14188aa73214365c88317830317 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes.jsonl @@ -0,0 +1,103 @@ +{"episode_index": 0, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1736} +{"episode_index": 1, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1040} +{"episode_index": 2, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 869} +{"episode_index": 3, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1753} +{"episode_index": 4, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2371} +{"episode_index": 5, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1139} +{"episode_index": 6, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 994} +{"episode_index": 7, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 993} +{"episode_index": 8, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 883} +{"episode_index": 9, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2207} +{"episode_index": 10, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 942} +{"episode_index": 11, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 2548} +{"episode_index": 12, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 866} +{"episode_index": 13, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1121} +{"episode_index": 14, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1754} +{"episode_index": 15, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2102} +{"episode_index": 16, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 841} +{"episode_index": 17, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 856} +{"episode_index": 18, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2024} +{"episode_index": 19, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1955} +{"episode_index": 20, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1510} +{"episode_index": 21, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1533} +{"episode_index": 22, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1641} +{"episode_index": 23, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 884} +{"episode_index": 24, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1835} +{"episode_index": 25, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1164} +{"episode_index": 26, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 913} +{"episode_index": 27, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1961} +{"episode_index": 28, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 2201} +{"episode_index": 29, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1931} +{"episode_index": 30, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2331} +{"episode_index": 31, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1851} +{"episode_index": 32, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1472} +{"episode_index": 33, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1771} +{"episode_index": 34, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1973} +{"episode_index": 35, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 785} +{"episode_index": 36, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1262} +{"episode_index": 37, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1807} +{"episode_index": 38, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1737} +{"episode_index": 39, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1791} +{"episode_index": 40, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2144} +{"episode_index": 41, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1059} +{"episode_index": 42, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 811} +{"episode_index": 43, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1438} +{"episode_index": 44, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1728} +{"episode_index": 45, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom tray in the toaster oven and place the chicken drumstick on the top tray."], "length": 1022} +{"episode_index": 46, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1726} +{"episode_index": 47, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1812} +{"episode_index": 48, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1774} +{"episode_index": 49, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2276} +{"episode_index": 50, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1774} +{"episode_index": 51, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1589} +{"episode_index": 52, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1779} +{"episode_index": 53, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1059} +{"episode_index": 54, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1527} +{"episode_index": 55, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 896} +{"episode_index": 56, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2259} +{"episode_index": 57, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2079} +{"episode_index": 58, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 2448} +{"episode_index": 59, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2243} +{"episode_index": 60, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 992} +{"episode_index": 61, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 880} +{"episode_index": 62, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 787} +{"episode_index": 63, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1626} +{"episode_index": 64, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 846} +{"episode_index": 65, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2267} +{"episode_index": 66, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1651} +{"episode_index": 67, "tasks": ["Open the toaster oven door. Place the bread on the bottom tray in the toaster oven and place the chicken drumstick on the top tray."], "length": 825} +{"episode_index": 68, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 970} +{"episode_index": 69, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 994} +{"episode_index": 70, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1980} +{"episode_index": 71, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1164} +{"episode_index": 72, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1844} +{"episode_index": 73, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 2128} +{"episode_index": 74, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1527} +{"episode_index": 75, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 2078} +{"episode_index": 76, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1016} +{"episode_index": 77, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1844} +{"episode_index": 78, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1972} +{"episode_index": 79, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1112} +{"episode_index": 80, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1804} +{"episode_index": 81, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1918} +{"episode_index": 82, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1685} +{"episode_index": 83, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 2103} +{"episode_index": 84, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 1487} +{"episode_index": 85, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 814} +{"episode_index": 86, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1723} +{"episode_index": 87, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1891} +{"episode_index": 88, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 946} +{"episode_index": 89, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1742} +{"episode_index": 90, "tasks": ["Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1708} +{"episode_index": 91, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1915} +{"episode_index": 92, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 2049} +{"episode_index": 93, "tasks": ["Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 926} +{"episode_index": 94, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1158} +{"episode_index": 95, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."], "length": 1009} +{"episode_index": 96, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 858} +{"episode_index": 97, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1816} +{"episode_index": 98, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."], "length": 865} +{"episode_index": 99, "tasks": ["Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 2322} +{"episode_index": 100, "tasks": ["Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1495} +{"episode_index": 101, "tasks": ["Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."], "length": 1017} +{"episode_index": 102, "tasks": ["Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."], "length": 1286} diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f90e76edfc45ffca47c6bf0ce6a9ecf5dc0bb18 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,103 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47625122293590066]], [[0.427973574492399]], [[0.4075134755157747]]], "std": [[[0.27436222421673384]], [[0.2651464890648276]], [[0.26811307620107677]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5783135755459119]], [[0.5702379980804559]], [[0.561932500984922]]], "std": [[[0.22349666093963402]], [[0.22214690237999293]], [[0.21994881558936022]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032682740901135]], [[0.593043304836328]], [[0.5832873452990104]]], "std": [[[0.21488492485987956]], [[0.2146372786655666]], [[0.21268696083747854]]], "count": [268]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1736]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1736]}, "observation.state": {"min": [2.438314858388077, -0.9262037091925195, 0.6999975539447097, 0.0, 0.0, 0.7005376219749451, 0.707060694694519, 0.11872780056279264, -0.3739700229393108, 0.22045479163409654, -0.9991366267204285, -0.9990146160125732, -0.6480138301849365, 0.00019998046627733856, -0.0006097031902421567, -0.04157434003009031], "max": [2.707106815413934, -0.820227064264835, 0.7225765602057689, 0.0, 0.0, 0.707152783870697, 0.713615357875824, 0.5411797064386634, 0.45107275292661564, 0.6139719702594363, 0.9965206384658813, 0.9978067874908447, 0.7286970615386963, 0.646356999874115, 0.041185808146134574, 0.0014528840006726657], "mean": [2.7015168436478265, -0.8217722615266092, 0.7137224856498601, 0.0, 0.0, 0.7008921131491661, 0.7132664081481744, 0.3024871878624372, 0.2310948303101558, 0.40897423630613916, 0.2181533747996431, 0.0508594232727237, 0.07856332540489218, 0.11309455830513072, 0.0340850207506854, -0.03193156022147961], "std": [0.034497792609139655, 0.011025089582385897, 0.007332973610804377, 0.0, 0.0, 0.0008021795482383045, 0.0007943091186608932, 0.10599717046562208, 0.21303854676660783, 0.08767178875239409, 0.8346357485394198, 0.36857210657267936, 0.27554035393758874, 0.14991707633621149, 0.01052760474111222, 0.012846828784199637], "count": [1736]}, "action": {"min": [-0.6267857142857143, -0.7151785714285714, -0.08571428571428572, 0.0, -1.0, -0.8705357142857143, -0.7687499999999999, -0.9375, -0.4314285714285714, -0.47714285714285715, -0.6742857142857143, -1.0], "max": [0.6669642857142857, 0.0, 0.002857142857142857, 0.0, 1.0, 0.6160714285714286, 0.9160714285714286, 0.6401785714285715, 0.3342857142857143, 0.35714285714285715, 0.5057142857142857, 1.0], "mean": [0.000871770078999342, -0.006725744733377222, -0.00028637261356155363, 0.0, -0.9331797235023042, -0.010751316655694532, 0.027237800362080324, -0.11736031105990784, -0.0019716919025674733, 0.009906188281764327, -0.0038232389730085553, -0.39285714285714285], "std": [0.050817892016610536, 0.05806961036198533, 0.004122729195695443, 0.0, 0.359410077271286, 0.2964407064770146, 0.30547380016905595, 0.3088037276618821, 0.07479428100407863, 0.10031925264905651, 0.13776122583826375, 0.9195995135417023], "count": [1736]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009216589853167534], "std": [0.09555963426828384], "count": [1736]}, "next.done": {"min": [false], "max": [true], "mean": [0.000576036866359447], "std": [0.023993854377486787], "count": [1736]}, "timestamp": {"min": [0.0], "max": [86.75], "mean": [43.375], "std": [25.056997525641414], "count": [1736]}, "frame_index": {"min": [0], "max": [1735], "mean": [867.5], "std": [501.1399505128283], "count": [1736]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1736]}, "index": {"min": [0], "max": [1735], "mean": [867.5], "std": [501.1399505128283], "count": [1736]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1736]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44186957896898943]], [[0.43166896092933843]], [[0.41982407160642177]]], "std": [[[0.16949361831791085]], [[0.17034340680879573]], [[0.17591389900691037]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36519675529183243]], [[0.3433423200783259]], [[0.3345231631197348]]], "std": [[[0.2188126691604393]], [[0.2279267435862687]], [[0.23322567564758828]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4032675164031737]], [[0.37269064595586143]], [[0.36121764927447886]]], "std": [[[0.20845328315557066]], [[0.22724503731912268]], [[0.23511574760546497]]], "count": [183]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1040]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1040]}, "observation.state": {"min": [3.3150781373037534, -1.172246056160255, 0.6999945240632058, 0.0, 0.0, 0.706841766834259, 0.707008957862854, 0.17367236296755473, -0.7111315383274559, 0.23853055188591588, -0.9982677698135376, -0.6312490701675415, -0.5434516668319702, 7.108646059350576e-06, 0.0063923894573154096, -0.04082801106222726], "max": [3.315509825742113, -1.171899295431202, 0.7087074028259179, 0.0, 0.0, 0.7072045803070068, 0.7073716521263123, 0.5894656315441289, 0.2490229441660734, 0.574844629356989, 0.9968217611312866, 0.6905361413955688, 0.5259431600570679, 0.48345044255256653, 0.04049796087572061, -0.0015292680515370245], "mean": [3.315235221683871, -1.1720147443002498, 0.7044407467716203, 0.0, 0.0, 0.7070602833651579, 0.7071532406485997, 0.3711418646203067, -0.13963491543331197, 0.40416229734509074, -0.15375064382186301, 0.11326578934318744, -0.08211932635917597, 0.16824126990057248, 0.03495100461536524, -0.03400572676771695], "std": [2.243166623575936e-05, 2.3107484667426815e-05, 0.0031068079699708476, 0.0, 0.0, 2.192636031070682e-05, 2.1937527941749213e-05, 0.09131887727415026, 0.19899446142846008, 0.0786282224056756, 0.8517174257381189, 0.3049450306549161, 0.29446089284529936, 0.15284511664649858, 0.009909809223264145, 0.011081121061933489], "count": [1040]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.4714285714285714, -0.7171428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.33714285714285713, 0.64, 0.4028571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -0.9769230769230769, 0.004436813186813203, 0.026929945054945077, -0.019079670329670353, -0.016607142857142872, 0.010195054945054951, -0.0178598901098901, -0.3403846153846154], "std": [0.0, 0.0, 0.0, 0.0, 0.21359143656792468, 0.42649305650574876, 0.4176469413509167, 0.3759613224051548, 0.10701209740662823, 0.1658684190562652, 0.15081118959185502, 0.9402862934284806], "count": [1040]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015384615398943424], "std": [0.12307693064212799], "count": [1040]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009615384615384616], "std": [0.030993772040934994], "count": [1040]}, "timestamp": {"min": [0.0], "max": [51.95], "mean": [25.975], "std": [15.011100059622546], "count": [1040]}, "frame_index": {"min": [0], "max": [1039], "mean": [519.5], "std": [300.22200119245093], "count": [1040]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1040]}, "index": {"min": [1736], "max": [2775], "mean": [2255.5], "std": [300.22200119245093], "count": [1040]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1040]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45390831143248317]], [[0.4286593209060968]], [[0.41188125834745515]]], "std": [[[0.25203149028906974]], [[0.2432681411004466]], [[0.23221155064787302]]], "count": [160]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5832465762718052]], [[0.4679474135006176]], [[0.39533694921755325]]], "std": [[[0.19783607301154404]], [[0.21499073132234758]], [[0.2372665809434143]]], "count": [160]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5678474583345301]], [[0.4518984042896944]], [[0.38307257334391276]]], "std": [[[0.1957673245869835]], [[0.20984315194966402]], [[0.2340265513201645]]], "count": [160]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [869]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [869]}, "observation.state": {"min": [-0.782552270271244, -1.238697931416713, 0.6998243524570259, 0.0, 0.0, -0.0004345234192442149, 0.9999998807907104, 0.06248029664392962, -0.350166272297451, 0.23444212294742428, -0.992009699344635, -0.967495322227478, -0.3454590141773224, 0.0007176450453698635, 0.0012424705692198992, -0.041321354167761226], "max": [-0.7812549395405707, -1.2381915418895086, 0.7056179245984893, 0.0, 0.0, 0.00020818937628064305, 1.0, 0.480536233904881, 0.4398850269823107, 0.5902318482534532, 0.9942172169685364, 0.9987717866897583, 0.31361404061317444, 0.7640873789787292, 0.041393450688521884, 0.0011827296548825611], "mean": [-0.7820417282970662, -1.2384576544543069, 0.702214747429715, 0.0, 0.0, -9.468675696833453e-05, 0.9999999995884604, 0.27930119931875713, 0.06161249020452175, 0.3967219604133822, 0.22359109556418844, 0.5885239785367792, 0.033201769659064184, 0.23161657467300675, 0.033568009359410685, -0.0338498741848969], "std": [6.119035418824551e-05, 4.420826810748647e-05, 0.0016831555797820954, 0.0, 0.0, 5.73969304755886e-05, 6.992136478629607e-09, 0.09780729430760772, 0.16172937368310966, 0.08007661492535403, 0.3816703705898439, 0.594217749061004, 0.12905221644856707, 0.18296577687185636, 0.009116225034969005, 0.010248115046181437], "count": [869]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5342857142857143, -0.5885714285714285, -0.32285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.24, 0.6942857142857143, 0.5714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010027946736807514, 0.04608745684695051, -0.033223738287029445, -0.008426763110307418, 0.00902843991451585, 0.028699654775604155, -0.30264672036823936], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4662521254867099, 0.3888411494114307, 0.512386174917349, 0.10727378803211535, 0.16659842162927538, 0.12493411052091569, 0.9531028080172428], "count": [869]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018411967903375626], "std": [0.1344357430934906], "count": [869]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011507479861910242], "std": [0.033903152733386045], "count": [869]}, "timestamp": {"min": [0.0], "max": [43.4], "mean": [21.7], "std": [12.542926293333625], "count": [869]}, "frame_index": {"min": [0], "max": [868], "mean": [434.0], "std": [250.85852586667252], "count": [869]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [869]}, "index": {"min": [2776], "max": [3644], "mean": [3210.0], "std": [250.85852586667252], "count": [869]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [869]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5489286133787644]], [[0.5327218426252156]], [[0.5246645872161799]]], "std": [[[0.2550288093374985]], [[0.2519041326806666]], [[0.2563456862399285]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.541644261622654]], [[0.4653696713693435]], [[0.41849051548245164]]], "std": [[[0.20275769083689427]], [[0.23731223132057477]], [[0.27054408643325545]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5313413206944019]], [[0.449395935014269]], [[0.39882950771002124]]], "std": [[[0.1974808405575139]], [[0.23147321085248254]], [[0.2644315368816963]]], "count": [270]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1753]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1753]}, "observation.state": {"min": [2.123535177095387, -0.8726851927259861, 0.6999970701435273, 0.0, 0.0, 0.704075276851654, 0.7063826322555542, 0.029581592738778806, -0.24887954858174144, 0.20921200719055866, -0.9997043609619141, -0.5132548213005066, -0.4453639090061188, 4.3458203435875475e-06, 0.018299417140283828, -0.040322902821455855], "max": [2.705797036819939, -0.7864387421120329, 0.7229576449331808, 0.0, 0.0, 0.7078301906585693, 0.7101253867149353, 0.51420720277254, 0.4418191824373445, 0.5935958752440437, 0.9982936978340149, 0.6958258748054504, 0.41920629143714905, 0.28838223218917847, 0.042862406250942474, 0.001599311903698339], "mean": [2.543071683750857, -0.7987832836536033, 0.7145685194464193, 0.0, 0.0, 0.706568310380458, 0.7076425909384005, 0.25584185780705915, 0.20656880783114218, 0.3764919777693949, -0.04499709092747873, 0.0795039061214658, 0.04992299589026631, 0.067288166561705, 0.03758960338475, -0.03653592279528011], "std": [0.2572419734818483, 0.011437060025453987, 0.00873675851754941, 0.0, 0.0, 0.0012651155496925055, 0.0012609888154346196, 0.09784991827876603, 0.22520124715258397, 0.09020127368686731, 0.9403268775170481, 0.26209541037625517, 0.16467267680620745, 0.06788708552318802, 0.005074549645242091, 0.007420109539662036], "count": [1753]}, "action": {"min": [-0.6321428571428571, -0.7526785714285714, -0.05428571428571429, 0.0, -1.0, -0.9133928571428572, -0.6830357142857143, -0.9375, -0.2714285714285714, -0.3171428571428571, -0.72, -1.0], "max": [0.50625, 0.80625, 0.014285714285714287, 0.0, 1.0, 0.6669642857142857, 0.8089285714285713, 0.5732142857142857, 0.3657142857142857, 0.4914285714285715, 0.4285714285714286, 1.0], "mean": [0.0020123665552929672, 0.004981256621302262, -0.00011246027218645589, 0.0, -0.8756417569880205, -0.03910592046287997, 0.0035831431831146567, -0.05830362236166574, -0.002314399804416917, 0.009273897807839646, -0.005935946540624237, -0.6908157444381061], "std": [0.04836699424624079, 0.1093265197794596, 0.002244975643628301, 0.0, 0.4829611924564226, 0.3093097103092418, 0.23939159245079275, 0.23650618842727922, 0.06131929237059339, 0.09128995462677933, 0.12390887408921462, 0.7230308480531183], "count": [1753]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009127210825681686], "std": [0.09509944915771484], "count": [1753]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005704506560182544], "std": [0.023877295535032914], "count": [1753]}, "timestamp": {"min": [0.0], "max": [87.6], "mean": [43.8], "std": [25.302371430362015], "count": [1753]}, "frame_index": {"min": [0], "max": [1752], "mean": [876.0], "std": [506.0474286072403], "count": [1753]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1753]}, "index": {"min": [3645], "max": [5397], "mean": [4521.0], "std": [506.0474286072403], "count": [1753]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1753]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49451072490320797]], [[0.471646094864159]], [[0.43805583949665206]]], "std": [[[0.23349506737565673]], [[0.23338855364148867]], [[0.23971080676061268]]], "count": [339]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6159005293017892]], [[0.5815157389294674]], [[0.5381973952360085]]], "std": [[[0.2546954934111146]], [[0.27251369171590356]], [[0.2852390414567371]]], "count": [339]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.60508227520705]], [[0.573821165565951]], [[0.5352415197035846]]], "std": [[[0.26709310392952995]], [[0.2817236207031136]], [[0.2879678494524749]]], "count": [339]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2371]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2371]}, "observation.state": {"min": [1.0791725733761686, -0.8538551624671271, 0.6999983826320492, 0.0, 0.0, 0.7069875001907349, 0.7070593237876892, 0.199002140736372, -0.5392112333664609, 0.21310655106065646, -0.9998977780342102, -0.7793797254562378, -0.6190662980079651, 1.3757239685219247e-05, 0.0005061557705562277, -0.04734968528997805], "max": [1.0794184762873584, -0.8536130104319246, 0.7346699340350206, 0.0, 0.0, 0.7071542143821716, 0.707226037979126, 0.5192123747385246, 0.5381075427016798, 0.6074643933527161, 0.9999887943267822, 0.989958643913269, 0.6212382912635803, 0.6170831322669983, 0.04119437904086269, -0.0007582638873433023], "mean": [1.0792302870179773, -0.8536753879990053, 0.7203373990881548, 0.0, 0.0, 0.7070993656651574, 0.7071141511113872, 0.3736749906659296, 0.05800350312367957, 0.3915275592117822, -0.13062910122460267, 0.13753443433385057, -0.08722749373798153, 0.1413920389987383, 0.03424460787046072, -0.03595523576698157], "std": [2.6512316365331992e-05, 2.476590174457784e-05, 0.009344226976017929, 0.0, 0.0, 2.424747497450647e-05, 2.4264220762075938e-05, 0.08456725190443663, 0.2579109780408646, 0.0822899138825497, 0.8541215715158977, 0.3642668826968424, 0.21200400479178674, 0.17105629758188398, 0.010836049643412088, 0.008561852132187167], "count": [2371]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7044642857142857, -0.6107142857142858, -0.9375, -0.30285714285714294, -0.2571428571428571, -0.4114285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5732142857142857, 0.8035714285714287, 0.6080357142857142, 0.3942857142857143, 0.42, 0.6857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.016235238296077568, 0.005191073688015924, -0.11645628728083371, 0.005409411339398689, 0.028173766343315042, 0.0070771826233656555, -0.6018557570645298], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23814494544924908, 0.19318426431552405, 0.2744575488973154, 0.0735467344082807, 0.09050369841117915, 0.10566500608074533, 0.7986048132138307], "count": [2371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006748207379132509], "std": [0.08186983317136765], "count": [2371]}, "next.done": {"min": [false], "max": [true], "mean": [0.00042176296921130323], "std": [0.020532537232624354], "count": [2371]}, "timestamp": {"min": [0.0], "max": [118.5], "mean": [59.25], "std": [34.222434162402884], "count": [2371]}, "frame_index": {"min": [0], "max": [2370], "mean": [1185.0], "std": [684.4486832480577], "count": [2371]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2371]}, "index": {"min": [5398], "max": [7768], "mean": [6583.0], "std": [684.4486832480577], "count": [2371]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2371]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43642371560440585]], [[0.4162237108588553]], [[0.40332691181941527]]], "std": [[[0.20349457882359143]], [[0.20008397875060344]], [[0.20416379853134795]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48066400601988846]], [[0.4689736655160111]], [[0.4659874609633893]]], "std": [[[0.1681129988964714]], [[0.17676912717651874]], [[0.18086986548928205]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4872676069329099]], [[0.4737267926579812]], [[0.46772029704215673]]], "std": [[[0.17468647498084838]], [[0.1818695301023406]], [[0.1861625993772809]]], "count": [196]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1139]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1139]}, "observation.state": {"min": [0.7447904322606075, -2.2113287122793537, 0.6999425866973032, 0.0, 0.0, -1.0, 0.0, -0.02573563206608509, -0.6413174996629669, 0.2303024594886388, -0.9930396676063538, -0.9923737049102783, -0.17283853888511658, 0.00012096569844288751, 0.0001138981446250197, -0.040592802224175654], "max": [0.8083323559381357, -1.998263043210249, 0.7062150884118554, 0.0, 0.0, 1.0, 0.010365763679146767, 0.468800337244692, 0.22426243800747336, 0.6382902128999328, 0.9932435750961304, 0.9926639199256897, 0.28069007396698, 0.5564613938331604, 0.04365972823616694, -0.00024283417104528288], "mean": [0.7481774907336125, -2.006938331384833, 0.7030479416324046, 0.0, 0.0, -0.971859442758602, 0.009297829350476119, 0.2786369625064802, 0.023185849133023014, 0.4142259289791022, 0.14184049117618877, 0.3997210474379027, 0.043794773512964146, 0.20107537599848269, 0.03177244861102493, -0.029861593837925124], "std": [0.013240294432034023, 0.039896287751425626, 0.0022222303277500215, 0.0, 0.0, 0.2353672689617308, 0.0022505300429114428, 0.09537469663132113, 0.25306619986356677, 0.09862483484995226, 0.45676245113956904, 0.7280395459793921, 0.1169791875026136, 0.15936567042133692, 0.01195724792092743, 0.013590657719480238], "count": [1139]}, "action": {"min": [0.0, -0.7928571428571428, -0.022857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4, -0.41714285714285715, -0.5, -1.0], "max": [0.4714285714285715, 0.0, 0.011428571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.36, 0.7514285714285714, 0.5285714285714286, 1.0], "mean": [0.013106735231405993, -0.01783519377900414, -4.2643923240938166e-05, 0.0, -0.9139596136962248, -0.02093942054433713, -0.008691834942932406, 0.003398971528910083, -0.0048739495798319436, 0.02179606170826543, 0.03068104853881848, -0.3520632133450395], "std": [0.06905791608958686, 0.09527850049088867, 0.0011126906310665093, 0.0, 0.4058051558719455, 0.43748858228470344, 0.433183585843323, 0.41715972913749955, 0.09690124484328294, 0.1538605917715151, 0.15726948442159022, 0.9359762250234476], "count": [1139]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01404741033911705], "std": [0.11768636107444763], "count": [1139]}, "next.done": {"min": [false], "max": [true], "mean": [0.000877963125548727], "std": [0.02961743247310448], "count": [1139]}, "timestamp": {"min": [0.0], "max": [56.9], "mean": [28.450000000000003], "std": [16.440042579020286], "count": [1139]}, "frame_index": {"min": [0], "max": [1138], "mean": [569.0], "std": [328.8008515804057], "count": [1139]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1139]}, "index": {"min": [7769], "max": [8907], "mean": [8338.0], "std": [328.8008515804057], "count": [1139]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1139]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48195958998005983]], [[0.46521803979608484]], [[0.4548811843549213]]], "std": [[[0.2950088125544964]], [[0.27933277459702915]], [[0.2852466790872141]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5236343236728617]], [[0.5238174081812721]], [[0.5212198683625772]]], "std": [[[0.24611274093520574]], [[0.23477475489632005]], [[0.23230852279746497]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722509625664024]], [[0.5667731573616823]], [[0.5596891045477933]]], "std": [[[0.227249476056543]], [[0.22333192101836719]], [[0.22085265243214391]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [994]}, "observation.state": {"min": [3.4325272183826523, -1.1829288022427216, 0.6999961980124114, 0.0, 0.0, 0.7008283734321594, 0.7027871608734131, 0.06690248473308058, -0.5911655280324886, 0.24429173218244382, -0.9940209984779358, -0.9927409291267395, -0.6838008761405945, 9.144123760052025e-05, 0.005094039206916199, -0.04093975297494487], "max": [3.8536749649721345, -1.0896599681445647, 0.7055793467818661, 0.0, 0.0, 0.7114001512527466, 0.7133299708366394, 0.48059995301007075, 0.3272884365123043, 0.5658822344153178, 0.9942776560783386, 0.9919670820236206, 0.7072862982749939, 0.5929843187332153, 0.04152568088460086, -0.0009979663828583896], "mean": [3.6032002952144437, -1.1504467064318076, 0.7045417798744509, 0.0, 0.0, 0.7087918734046775, 0.7054120620611448, 0.2714488277435675, -0.009726104253716684, 0.41116929316597217, 0.03767796893988481, 0.4848394693518189, -0.059648927125081484, 0.16835690027776432, 0.03153837877602183, -0.029903692670680274], "std": [0.2035312917896218, 0.03930508995328338, 0.0013725209143891754, 0.0, 0.0, 0.0019882357745614116, 0.0019873412261544386, 0.11060116695372679, 0.24374285153318473, 0.08365962887790893, 0.4045947348940764, 0.7005161187483263, 0.2406846920859202, 0.13878097344680307, 0.011887961554768966, 0.013763757839565125], "count": [994]}, "action": {"min": [0.0, -0.8285714285714285, -0.05714285714285715, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5657142857142857, -0.3057142857142857, -0.4514285714285714, -1.0], "max": [0.5428571428571429, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.9085714285714286, 0.8485714285714285, 0.6, 1.0], "mean": [0.0119215291750503, -0.019042828398965216, -0.001399827536648462, 0.0, -0.89738430583501, -0.011109514228226508, 0.003988215004311599, -0.016807990801954577, -0.0018654785858005201, 0.042290888186260395, -0.0015780396665708589, -0.3822937625754527], "std": [0.06895773384387217, 0.0989922507354072, 0.0069540433428280524, 0.0, 0.4412498245223682, 0.451038569427243, 0.39028904773270157, 0.43120472593907944, 0.17730266731141497, 0.16021107593874903, 0.14755906274484232, 0.9240408427639457], "count": [994]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016096578910946846], "std": [0.12584704160690308], "count": [994]}, "next.done": {"min": [false], "max": [true], "mean": [0.001006036217303823], "std": [0.031702115204403886], "count": [994]}, "timestamp": {"min": [0.0], "max": [49.65], "mean": [24.825], "std": [14.347146928919353], "count": [994]}, "frame_index": {"min": [0], "max": [993], "mean": [496.5], "std": [286.94293857838704], "count": [994]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [994]}, "index": {"min": [8908], "max": [9901], "mean": [9404.5], "std": [286.94293857838704], "count": [994]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47741121846299334]], [[0.4543634268476789]], [[0.43008610186517343]]], "std": [[[0.2570221385931202]], [[0.25025845062134633]], [[0.24574452905389538]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6239806224530605]], [[0.6176634446822387]], [[0.6069385270171412]]], "std": [[[0.2149786073119116]], [[0.21651401580369845]], [[0.21590915748884695]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6262192479641893]], [[0.6191759956074271]], [[0.6075809896948503]]], "std": [[[0.2154394122791914]], [[0.217119297740496]], [[0.21574224561669816]]], "count": [176]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [993]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [993]}, "observation.state": {"min": [0.9646207184844154, -0.8494856186095424, 0.6999976794248304, 0.0, 0.0, 0.7068719267845154, 0.706924319267273, 0.11570802223169996, -0.501939590045746, 0.22403225206341237, -0.991150975227356, -0.9991419911384583, -0.4886128306388855, 0.0005227477522566915, -0.0006006270474030094, -0.04116108494928903], "max": [0.965141572354923, -0.8487787936005204, 0.7239893026007489, 0.0, 0.0, 0.7072891592979431, 0.7073416113853455, 0.5240859022762857, 0.6792354418916232, 0.6909037504714965, 0.9915623664855957, 0.9994218945503235, 0.2129739373922348, 0.6794930696487427, 0.04158809620942707, -0.00020978125884022603], "mean": [0.9648640573692728, -0.8488135397402422, 0.7133494422546592, 0.0, 0.0, 0.7071026822351377, 0.707110834505863, 0.3236304355370093, 0.12411756324627359, 0.41481141245865216, -0.06995206005573634, 0.6107721281165683, -0.12137232641811405, 0.2735987784053046, 0.033014277607337265, -0.034895758916972455], "std": [3.850859517517628e-05, 4.4186224890079195e-05, 0.00766545605662, 0.0, 0.0, 3.2019012506507e-05, 3.201759019679192e-05, 0.0926276637001395, 0.2649643469047343, 0.08414303800136443, 0.4070841609949283, 0.551475248180876, 0.1772191587281951, 0.17671298752178333, 0.011682471561497551, 0.010300864157083854], "count": [993]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.48571428571428577, -0.4914285714285715, -0.3142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9285714285714287, 1.0, 1.0, 0.28, 0.7285714285714285, 0.5857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009156955833693017, 0.06472450007193216, 0.03972090346712684, 0.0010991224284275514, 0.12367429146885323, 0.03164436771687525, -0.5468277945619335], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46373981869670694, 0.40245136217353566, 0.5290829955692469, 0.0952773497291277, 0.21304318754892035, 0.12061080463528548, 0.8372451033565532], "count": [993]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016112789511680603], "std": [0.12590935826301575], "count": [993]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010070493454179255], "std": [0.03171805790135674], "count": [993]}, "timestamp": {"min": [0.0], "max": [49.6], "mean": [24.8], "std": [14.332713164877983], "count": [993]}, "frame_index": {"min": [0], "max": [992], "mean": [496.0], "std": [286.6542632975597], "count": [993]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [993]}, "index": {"min": [9902], "max": [10894], "mean": [10398.0], "std": [286.6542632975597], "count": [993]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [993]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.466456816783269]], [[0.4583366270463688]], [[0.4402000671617152]]], "std": [[[0.25844864108362287]], [[0.23684994351482466]], [[0.22977372700274987]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874745605082216]], [[0.5818360136917369]], [[0.5215013813673397]]], "std": [[[0.16308413224782378]], [[0.13778829529382514]], [[0.15099541079441814]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5944765242628981]], [[0.586443811188283]], [[0.5217983176626629]]], "std": [[[0.15280238427319584]], [[0.13271741659719197]], [[0.14687881834958383]]], "count": [161]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [883]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [883]}, "observation.state": {"min": [5.121500411174584, -3.92792387141762, 0.6999970547247625, 0.0, 0.0, -0.7107070088386536, 0.7034881114959717, 0.19738646314607244, -0.327062727037684, 0.23142221035523036, -0.9921872615814209, -0.9942919015884399, -0.35977593064308167, 0.000305861234664917, 0.0011182427662363174, -0.040804406691516894], "max": [5.682142558026395, -3.848265114076653, 0.7148878441300777, 0.0, 0.0, -0.7057129740715027, 0.7084977626800537, 0.5493030520796371, 0.47986452847141425, 0.5931676543852538, 0.9936230778694153, 0.9960427284240723, 0.3320199251174927, 0.6423585414886475, 0.041476921776837275, -0.001129729039553718], "mean": [5.518401520377085, -3.873202147453223, 0.7078113314937553, 0.0, 0.0, -0.7078989005034804, 0.7063118589963945, 0.3411953601236737, 0.03632731066698172, 0.4078106407894471, -0.023980171234905402, 0.7265154960673905, -0.006990367201353884, 0.3463526579407956, 0.035506883251922756, -0.03471480280038723], "std": [0.2501568140713081, 0.03074256288414633, 0.00433195185072478, 0.0, 0.0, 0.0011617410849511524, 0.0011645092806755156, 0.08089228730184511, 0.2034986503224188, 0.09504523298651657, 0.39092883610990165, 0.37401693519936824, 0.1544282371025476, 0.1871604905690463, 0.008006454108778753, 0.009230103849355924], "count": [883]}, "action": {"min": [-0.3, -0.8214285714285715, -0.06857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5914285714285714, -0.5314285714285715, -0.4714285714285714, -1.0], "max": [0.45, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.32571428571428573, 0.7257142857142858, 0.62, 1.0], "mean": [0.0063420158550396375, -0.022666235237016663, -0.0003591651836272448, 0.0, -0.9093997734994338, -0.0009464487946933964, 0.04763792266623518, 0.10723992881410774, -0.022536806342015853, 0.10178935447338616, 0.040808930593755115, -0.549263873159683], "std": [0.058180942686416895, 0.11666659521581345, 0.004326822672080649, 0.0, 0.4159231322722688, 0.4707161433766874, 0.42584389563779357, 0.5739810045196021, 0.122469029503601, 0.21993547927874066, 0.16932275122949567, 0.8356489679534209], "count": [883]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018120044842362404], "std": [0.133385568857193], "count": [883]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011325028312570782], "std": [0.033633618131183464], "count": [883]}, "timestamp": {"min": [0.0], "max": [44.1], "mean": [22.05], "std": [12.744999019223187], "count": [883]}, "frame_index": {"min": [0], "max": [882], "mean": [441.0], "std": [254.89998038446373], "count": [883]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [883]}, "index": {"min": [10895], "max": [11777], "mean": [11336.0], "std": [254.89998038446373], "count": [883]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [883]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4694350257702502]], [[0.453506402431677]], [[0.4304896686431156]]], "std": [[[0.1877325047702605]], [[0.17578823280892583]], [[0.1773452844324816]]], "count": [321]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41737548593245344]], [[0.3798984519432347]], [[0.36219381982860316]]], "std": [[[0.1906920707197215]], [[0.21393113687024715]], [[0.22374625963177114]]], "count": [321]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.058823529411764705]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4237111482206054]], [[0.3861517367165787]], [[0.3695212545657623]]], "std": [[[0.20270827314225265]], [[0.22599792441015767]], [[0.23606939597141124]]], "count": [321]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2207]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2207]}, "observation.state": {"min": [4.835118598604647, -6.4972940082222514, 0.6999984552576193, 0.0, 0.0, 0.00015090145461726934, 0.9999889135360718, 0.15301318678916065, -0.3735320652548024, 0.2182077798380092, -0.9993714094161987, -0.5304663181304932, -0.5892843008041382, 0.0001390609540976584, -0.00024047067306539422, -0.04240672702880301], "max": [4.837715561327011, -6.264194922485177, 0.7374560280063269, 0.0, 0.0, 0.004702492151409388, 1.0, 0.5206498224253258, 0.40526676195385836, 0.611778799667335, 0.9995989203453064, 0.6836249828338623, 0.32767006754875183, 0.40849387645721436, 0.040199961756813465, -0.0004542453140375926], "mean": [4.835290667786504, -6.2668396995503635, 0.7207966377849312, 0.0, 0.0, 0.0025648624818425205, 0.9999967272809905, 0.3408815058421406, -0.20432216291384225, 0.3928294672379647, -0.3647245147890455, 0.18442422938568995, -0.104390887971601, 0.12543553893816517, 0.03314548597590409, -0.03534755305986992], "std": [0.0002001597429049757, 0.022335191967661507, 0.01477520002852203, 0.0, 0.0, 0.00024665211109575026, 5.614108463136869e-07, 0.09743766020924789, 0.19180407072338596, 0.09810111179692019, 0.8042999542233907, 0.31800034699700636, 0.21265862815323597, 0.11439349207724302, 0.012503914741712594, 0.009351978994815647], "count": [2207]}, "action": {"min": [-0.3026785714285714, 0.0, -0.05428571428571429, 0.0, -1.0, -0.9375, -0.7151785714285714, -0.9375, -0.44, -0.37714285714285717, -0.5228571428571429, -1.0], "max": [0.06696428571428571, 0.7285714285714285, 0.08857142857142856, 0.0, 1.0, 0.6696428571428571, 0.7821428571428571, 0.4875000000000001, 0.26, 0.4314285714285714, 0.5142857142857142, 1.0], "mean": [-0.0004963913521910802, 0.003989335879344942, 6.213994433296656e-05, 0.0, -0.9592206615314907, -0.013337028286620525, 0.006400899734610667, -0.09794444624247527, -0.007647096899475696, 0.0034008673700563112, 0.009106091009126795, -0.3013140009062075], "std": [0.010151407139579202, 0.04783315317730884, 0.0031337147160941693, 0.0, 0.28265831403141073, 0.2777204720210354, 0.22090443318547165, 0.2991056879093629, 0.07743975226468289, 0.07460474304253162, 0.10569386283692062, 0.9535249723305002], "count": [2207]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007249660324305296], "std": [0.08483575284481049], "count": [2207]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045310376076121433], "std": [0.021281411084399418], "count": [2207]}, "timestamp": {"min": [0.0], "max": [110.3], "mean": [55.14999999999999], "std": [31.855297832542707], "count": [2207]}, "frame_index": {"min": [0], "max": [2206], "mean": [1103.0], "std": [637.1059566508541], "count": [2207]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2207]}, "index": {"min": [11778], "max": [13984], "mean": [12881.0], "std": [637.1059566508541], "count": [2207]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2207]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.454432406837965]], [[0.4237561112594165]], [[0.39288362109262365]]], "std": [[[0.23887306044218232]], [[0.22135473444517018]], [[0.2060876709740749]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5674913881999261]], [[0.44495136546978625]], [[0.3661707824214244]]], "std": [[[0.189387246186052]], [[0.21439667382759636]], [[0.2349421974332614]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5576188562870575]], [[0.4376621183859573]], [[0.36248212345743674]]], "std": [[[0.20064420106046194]], [[0.22145674521217326]], [[0.24156822545836218]]], "count": [170]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [942]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [942]}, "observation.state": {"min": [5.569051390969218, -3.914478778212221, 0.6999962313803673, 0.0, 0.0, -0.7198191285133362, 0.6941617131233215, 0.07952135982440689, -0.5261753048054159, 0.248550169600121, -0.9879850745201111, -0.03479321300983429, -0.4193148612976074, 0.005836084019392729, 0.004550762829791938, -0.04063433348617003], "max": [6.069104099622273, -3.8619528729609547, 0.7025254545096167, 0.0, 0.0, -0.706748366355896, 0.7074649333953857, 0.4642430303019638, 0.4194431365922373, 0.6056480611974585, 0.9882404208183289, 0.998473048210144, 0.3066198527812958, 0.6710937023162842, 0.04189214531450662, -0.0018542301505691233], "mean": [5.7606428423288545, -3.882383164118782, 0.7017420547768176, 0.0, 0.0, -0.710661861737063, 0.7035026249738762, 0.2596236487163876, -0.039361186343598954, 0.40398705266419355, 0.18556493907941224, 0.8681037182862339, 0.032444223527495916, 0.18726289740490734, 0.03420689895746658, -0.03330575824169416], "std": [0.23852646720074294, 0.02399008111725643, 0.0005379370187586236, 0.0, 0.0, 0.004643833632851686, 0.004708642910111916, 0.08744357807163887, 0.2515659362599278, 0.08261657453375892, 0.31393464128102155, 0.208201010692085, 0.0976020185972989, 0.15624593091529293, 0.009116832335738637, 0.01043197759282706], "count": [942]}, "action": {"min": [-0.02857142857142857, -0.25, -0.09142857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6685714285714286, -0.5171428571428571, -0.5028571428571429, -1.0], "max": [0.4, 0.7642857142857143, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2285714285714286, 0.6342857142857142, 0.54, 1.0], "mean": [0.0099939338792842, 0.01845617227782833, -0.0010858356081286016, 0.0, -0.8704883227176221, -0.007233848953594193, -0.0017970882620564133, -0.0025705186533212044, -0.014943888383378841, 0.01917197452229295, 0.02965423111919928, -0.3333333333333333], "std": [0.052478704587985446, 0.10747871602056297, 0.00891726966765958, 0.0, 0.4921890693750316, 0.4282137476640774, 0.4330441819984827, 0.3999297868302354, 0.09643603636288288, 0.1382717502909089, 0.1339174249959646, 0.9428090415820707], "count": [942]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01698513887822628], "std": [0.12921549379825592], "count": [942]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010615711252653928], "std": [0.03256446210228868], "count": [942]}, "timestamp": {"min": [0.0], "max": [47.05], "mean": [23.525], "std": [13.596591178183843], "count": [942]}, "frame_index": {"min": [0], "max": [941], "mean": [470.5], "std": [271.93182356367686], "count": [942]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [942]}, "index": {"min": [13985], "max": [14926], "mean": [14455.5], "std": [271.93182356367686], "count": [942]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [942]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45316170750840595]], [[0.3832781489674475]], [[0.3550952150443256]]], "std": [[[0.24762042809513385]], [[0.23640881920585505]], [[0.23372056527928844]]], "count": [358]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6466118605195111]], [[0.5523660996380975]], [[0.48739698269840187]]], "std": [[[0.16169190358752566]], [[0.2068955390396292]], [[0.21361061554164607]]], "count": [358]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6392370308616857]], [[0.5503951280894527]], [[0.487458438561981]]], "std": [[[0.1793479287397417]], [[0.2161001616849775]], [[0.2218238406202399]]], "count": [358]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [2548]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2548]}, "observation.state": {"min": [5.8560391981666475, -3.922250073287024, 0.6999975029113124, 0.0, 0.0, -0.7082768082618713, 0.7059348225593567, 0.009160962485806223, -0.616824616135216, 0.22583035900115866, -0.9973585605621338, -0.6500188708305359, -0.746695339679718, 6.566133379237726e-05, 0.009385651199884592, -0.04146904877213099], "max": [6.22799308263152, -3.76024574775338, 0.7224291172845876, 0.0, 0.0, -0.7069604396820068, 0.707253098487854, 0.553052947853458, 0.3852705411309092, 0.640309350580957, 0.9973443746566772, 0.9855937361717224, 0.6825220584869385, 0.6414098739624023, 0.04165059358379517, -0.008639145463967221], "mean": [5.992696966610994, -3.880341026785635, 0.716010641333859, 0.0, 0.0, -0.707234168024602, 0.7069792863759365, 0.2921736367114999, -0.03276283433514388, 0.4079353947168224, 0.16887660418212921, 0.21417009209983015, 0.0736329202716852, 0.17635651394073995, 0.03749322712960726, -0.03739352026347602], "std": [0.17844962522597257, 0.03180128114013838, 0.0059372884639539774, 0.0, 0.0, 0.00017989422710617452, 0.00018004676291281062, 0.13038560050801937, 0.2536854030360067, 0.09118275490599831, 0.7057594258970351, 0.4698208424877987, 0.3913491436057233, 0.13079103967688643, 0.005076116337034389, 0.005699048767173741], "count": [2548]}, "action": {"min": [-0.5785714285714285, 0.0, -0.037142857142857144, 0.0, -1.0, -0.8196428571428573, -0.6482142857142857, -0.9375, -0.8028571428571428, -0.37714285714285717, -0.7628571428571429, -1.0], "max": [0.5223214285714286, 0.6294642857142857, 0.0, 0.0, 1.0, 0.6026785714285715, 0.7848214285714286, 0.8785714285714287, 0.6485714285714286, 0.62, 0.5371428571428571, 1.0], "mean": [0.003034943372953576, 0.006984469612020632, -3.251850190625701e-05, 0.0, -0.9167974882260597, -0.027054832922179847, 0.0026428291096658586, 0.127005074007625, 0.043091500336398234, 0.08387530836510428, -0.037114823951558636, -0.6145996860282574], "std": [0.05284007619326994, 0.05543639806175165, 0.0008817393701141096, 0.0, 0.39935243279888977, 0.2869636972014185, 0.19757571660487397, 0.39470670288423704, 0.1846629535743592, 0.16174991808662653, 0.16030291979239308, 0.7888391635396699], "count": [2548]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006279435008764267], "std": [0.07899369299411774], "count": [2548]}, "next.done": {"min": [false], "max": [true], "mean": [0.0003924646781789639], "std": [0.019806833408077772], "count": [2548]}, "timestamp": {"min": [0.0], "max": [127.35], "mean": [63.67500000000001], "std": [36.77720931500921], "count": [2548]}, "frame_index": {"min": [0], "max": [2547], "mean": [1273.5], "std": [735.5441863001842], "count": [2548]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [2548]}, "index": {"min": [14927], "max": [17474], "mean": [16200.5], "std": [735.5441863001842], "count": [2548]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [2548]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45201258064859934]], [[0.42515455051449874]], [[0.4157481865430675]]], "std": [[[0.26068773129295164]], [[0.26437795286037596]], [[0.2674604996601851]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5386903590405674]], [[0.36058805209079997]], [[0.3226598621311486]]], "std": [[[0.22631731305942926]], [[0.2780137084590325]], [[0.3033606805822715]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5287611449186715]], [[0.3851326025462883]], [[0.3569025752605853]]], "std": [[[0.21079799057237805]], [[0.2572963547186317]], [[0.2828392383400537]]], "count": [159]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [866]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [866]}, "observation.state": {"min": [0.8712298942212233, -2.2437408913048724, 0.6999961253898945, 0.0, 0.0, -1.0, 9.821574167290237e-07, 0.14001791410742137, -0.27540110187593814, 0.23993929997551, -0.9926384687423706, -0.9995526671409607, -0.7215898633003235, 0.0005697254673577845, 0.0014591237197706195, -0.044860644085844975], "max": [0.8778440169760011, -2.242656994169383, 0.7113511774134055, 0.0, 0.0, 1.0, 0.0007611240725964308, 0.5222050516229704, 0.5535076059128916, 0.5984050075658413, 0.9963839054107666, 0.9997859001159668, 0.3464824855327606, 0.5469448566436768, 0.04450427038453142, 2.831812347731306e-05], "mean": [0.8737023502343161, -2.243173663464969, 0.7082853344686949, 0.0, 0.0, 0.8568129316488534, 0.000101420189139127, 0.32826281363110055, 0.07355466515902286, 0.3946231044674485, 0.12383982567988389, 0.7012774698849226, -0.044987280415375766, 0.15188943260914203, 0.035515863038571044, -0.03494045604499787], "std": [0.0004442288855040997, 7.90673862374988e-05, 0.0030737846323052424, 0.0, 0.0, 0.5156273780563256, 8.951232281855347e-05, 0.08903953894327409, 0.18214736195710643, 0.07350291745524926, 0.35306233381820273, 0.5280822995335848, 0.19668881328667068, 0.15990291129028775, 0.00867771537783588, 0.010127901311634505], "count": [866]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7457142857142857, -0.5685714285714286, -0.4628571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.30285714285714294, 0.7828571428571428, 0.6885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.014648630814912628, -0.005460244143846925, 0.01861596832728479, -0.018050148465852827, 0.060659848234906, 0.023965687891784895, -0.45958429561200925], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5052164473256807, 0.3991130780019472, 0.4706739362634165, 0.11387544609800583, 0.19484601535569307, 0.17301633660518934, 0.8881341538454688], "count": [866]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01847575046122074], "std": [0.13466401398181915], "count": [866]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011547344110854503], "std": [0.03396175789804328], "count": [866]}, "timestamp": {"min": [0.0], "max": [43.25], "mean": [21.625], "std": [12.49962499437483], "count": [866]}, "frame_index": {"min": [0], "max": [865], "mean": [432.5], "std": [249.99249988749662], "count": [866]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [866]}, "index": {"min": [17475], "max": [18340], "mean": [17907.5], "std": [249.99249988749662], "count": [866]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [866]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49410831754095946]], [[0.4869777677505588]], [[0.4558081955053718]]], "std": [[[0.214831869000604]], [[0.21324626888315568]], [[0.22117478070449142]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5132754162221884]], [[0.5230468607380007]], [[0.4688207714511383]]], "std": [[[0.18471371767075828]], [[0.17901824484596043]], [[0.18183218216633878]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.526767458262197]], [[0.5499619359639702]], [[0.4926513740084562]]], "std": [[[0.20848152082357932]], [[0.17532906649696095]], [[0.19351379530368382]]], "count": [193]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1121]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1121]}, "observation.state": {"min": [1.2959760584058237, -0.9643322525095407, 0.6999985528630694, 0.0, 0.0, 0.7068688273429871, 0.7066526412963867, 0.030073904056996614, -0.7915747103707109, 0.233305031422802, -0.9947530627250671, -0.5962912440299988, -0.6253202557563782, 1.691765100986231e-05, 0.0011222563558995421, -0.04129450413512822], "max": [1.2992255148923855, -0.9597916244323821, 0.719683157147001, 0.0, 0.0, 0.7075605392456055, 0.707344651222229, 0.5091738910109657, 0.007687112095915882, 0.7273721200954252, 0.9978101849555969, 0.9781095385551453, 0.7212828993797302, 0.8389884829521179, 0.04169875111728457, -0.0006870316034950122], "mean": [1.2989632328036214, -0.9615484127504301, 0.7102967965814909, 0.0, 0.0, 0.7071173865810023, 0.7070961245780114, 0.2932797800621886, -0.200552959187166, 0.407018191894698, 0.17702833388365136, 0.14361397533891032, 0.06445235559314612, 0.24299530466209868, 0.03654232839409026, -0.03586860726932381], "std": [0.0001197161279135808, 0.00015000522357796838, 0.007261900752191417, 0.0, 0.0, 7.009044198268332e-05, 7.010703333769048e-05, 0.09151110074895052, 0.1931005769304276, 0.09355364275969949, 0.7544419525625589, 0.4044710511063297, 0.34248764579100044, 0.18643468349275294, 0.009071510909260621, 0.010158918857920108], "count": [1121]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7314285714285714, -0.7342857142857143, -0.6714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9285714285714287, 1.0, 1.0, 0.5971428571428572, 0.9342857142857143, 0.5885714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.030508474576271188, -0.019580731489741304, -0.061106155218554926, -0.0061654135338345805, 0.057935516757996616, -0.008647890913724997, -0.5807314897413024], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4563317940919009, 0.4044970910089196, 0.4877106140225522, 0.17099488604141172, 0.2696236355921519, 0.1634304107284512, 0.8140951644757869], "count": [1121]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014272970147430897], "std": [0.11861388385295868], "count": [1121]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008920606601248885], "std": [0.029854059822803765], "count": [1121]}, "timestamp": {"min": [0.0], "max": [56.0], "mean": [28.0], "std": [16.180234856144704], "count": [1121]}, "frame_index": {"min": [0], "max": [1120], "mean": [560.0], "std": [323.60469712289404], "count": [1121]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1121]}, "index": {"min": [18341], "max": [19461], "mean": [18901.0], "std": [323.60469712289404], "count": [1121]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1121]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48573709726247366]], [[0.46337358703679526]], [[0.44821444390591364]]], "std": [[[0.19999380025354588]], [[0.1874554023165077]], [[0.18855256061740747]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44176590189938264]], [[0.42295779772013886]], [[0.41736573559547346]]], "std": [[[0.19788725760922385]], [[0.2096002586631641]], [[0.2157026454691467]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42703590600071906]], [[0.39883340866346106]], [[0.3886180522464117]]], "std": [[[0.21631353685373367]], [[0.23518590583015017]], [[0.24345631981873891]]], "count": [271]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1754]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1754]}, "observation.state": {"min": [4.280480049489224, -0.8025963966305256, 0.6999984147850421, 0.0, 0.0, 0.7066780924797058, 0.7070057988166809, 0.04308516529233286, -0.3566182598712837, 0.22129185815293106, -0.9999841451644897, -0.21449443697929382, -0.5171205997467041, 1.0222633136436343e-05, 0.0009237941345484981, -0.04103608977501711], "max": [4.743859913138733, -0.8018566599239165, 0.7277199008571571, 0.0, 0.0, 0.7072077393531799, 0.7075352072715759, 0.4303950064617096, 0.4386902219553179, 0.5815861216164773, 0.999971866607666, 0.6072800159454346, 0.34362906217575073, 0.5022475719451904, 0.040629775175960975, -3.767577657939846e-05], "mean": [4.288035015688638, -0.8019346980046536, 0.7140622288108335, 0.0, 0.0, 0.7070596928675336, 0.7071538283452476, 0.285441597597215, -0.1798244754589137, 0.3842740709542658, -0.5388489975896638, 0.07166697046434892, -0.11994314703403514, 0.11686590227255779, 0.03659026704118117, -0.036644526230095925], "std": [0.05310959748772658, 8.060381913764606e-05, 0.00846954847823453, 0.0, 0.0, 4.980496658659914e-05, 4.979789561055107e-05, 0.08552852230889212, 0.22317821978206928, 0.07588026164564853, 0.7681558279361924, 0.20192544236859483, 0.18501537191600784, 0.10674108259384864, 0.008025126359463, 0.008003993440876848], "count": [1754]}, "action": {"min": [-0.09642857142857143, 0.0, 0.0, 0.0, -1.0, -0.8785714285714287, -0.7125, -0.9375, -0.19142857142857142, -0.7057142857142857, -0.5085714285714286, -1.0], "max": [0.15803571428571428, 0.6589285714285714, 0.002857142857142857, 0.0, 1.0, 0.5223214285714286, 0.8812500000000001, 0.5732142857142857, 0.4, 0.32285714285714284, 0.6285714285714286, 1.0], "mean": [1.0689851767388875e-05, 0.009923236683498942, 1.6289297931259163e-06, 0.0, -0.9372862029646523, -0.038872882391268876, -0.004434761361785328, -0.11187846147581058, 0.0022951620785144114, -0.0003616224140739466, 0.006320247597328552, -0.5165336374002281], "std": [0.00814466679793681, 0.07409559101380032, 6.820140549099041e-05, 0.0, 0.3485607174253962, 0.2766432563002046, 0.24630040934826913, 0.2752820481390677, 0.06191286537273109, 0.0804894477078993, 0.11119750631496403, 0.8562668984808954], "count": [1754]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009122006595134735], "std": [0.09507257491350174], "count": [1754]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005701254275940707], "std": [0.023870491921845295], "count": [1754]}, "timestamp": {"min": [0.0], "max": [87.65], "mean": [43.825], "std": [25.31680518943889], "count": [1754]}, "frame_index": {"min": [0], "max": [1753], "mean": [876.5], "std": [506.33610378877785], "count": [1754]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1754]}, "index": {"min": [19462], "max": [21215], "mean": [20338.5], "std": [506.33610378877785], "count": [1754]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1754]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295848285209371]], [[0.5149840092523273]], [[0.5034101860919835]]], "std": [[[0.23076848198743558]], [[0.23262475408959754]], [[0.23940797078646486]]], "count": [310]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.08627450980392157]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.530419931526353]], [[0.4492502103222842]], [[0.3979075484544246]]], "std": [[[0.20467578688092]], [[0.2416383654969819]], [[0.2752818400485453]]], "count": [310]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.09411764705882353]], [[0.08627450980392157]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5613252726391401]], [[0.4797136675203096]], [[0.42903616589733806]]], "std": [[[0.20631094649734422]], [[0.24933033415008204]], [[0.2860103332831544]]], "count": [310]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2102]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2102]}, "observation.state": {"min": [0.8110096698211343, -1.8705844883210023, 0.6999986250567662, 0.0, 0.0, -1.0, 0.0, 0.10996621039123189, -0.5650498992863273, 0.22183939085640936, -0.9924752116203308, -0.6779696941375732, -0.45661354064941406, 0.00010686206223908812, 0.00025146857285573157, -0.041465126466182174], "max": [0.8112280354905403, -1.8704611334083625, 0.7261669103799132, 0.0, 0.0, 1.0, 0.00010912580910371616, 0.5370224342441572, 0.3998038790638452, 0.5918449925915249, 0.9986284971237183, 0.6999944448471069, 0.3380914032459259, 0.4199380874633789, 0.04060701457698954, -0.00022001702997048072], "mean": [0.8110990054930874, -1.8705142143513704, 0.717167731694148, 0.0, 0.0, 0.21503330161750714, 1.168632971440196e-05, 0.3593321628936329, -0.07861953306326172, 0.37302283205452064, -0.3792750395898247, 0.18474993469294596, -0.103707083914972, 0.11701040538886459, 0.03273577255544267, -0.03410541113145524], "std": [1.8756394233265158e-05, 1.2344302511987678e-05, 0.008449579505913688, 0.0, 0.0, 0.9766067167470532, 1.8362000300815455e-05, 0.10855069606970552, 0.18315809499978147, 0.07668354252793383, 0.8053493905052107, 0.3232203508471922, 0.1866135250663946, 0.09842595333322651, 0.01158778423967126, 0.011050920346644455], "count": [2102]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6401785714285715, -0.4982142857142858, -0.8437500000000001, -0.35714285714285715, -0.37714285714285717, -0.4542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 0.6776785714285715, 0.45267857142857143, 0.3857142857142858, 0.33714285714285713, 0.5057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020916304200081552, 0.010589404648633952, -0.08997808209868167, -0.008185401658284625, 0.0020198450455348642, 0.0139418241130896, -0.3225499524262607], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24555559410668412, 0.16797518264500674, 0.22536350120224077, 0.06310267603647925, 0.05961824345359121, 0.10850170078968581, 0.9465524434440024], "count": [2102]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007611798122525215], "std": [0.08691294491291046], "count": [2102]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004757373929590866], "std": [0.02180621624427372], "count": [2102]}, "timestamp": {"min": [0.0], "max": [105.05], "mean": [52.52499999999999], "std": [30.339753212575744], "count": [2102]}, "frame_index": {"min": [0], "max": [2101], "mean": [1050.5], "std": [606.7950642515149], "count": [2102]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [2102]}, "index": {"min": [21216], "max": [23317], "mean": [22266.5], "std": [606.7950642515149], "count": [2102]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2102]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44928948472887503]], [[0.43579422541753077]], [[0.42235694260019463]]], "std": [[[0.23825900179198461]], [[0.22516617784164222]], [[0.2300119575037928]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48075928302072535]], [[0.39891794664048263]], [[0.33305947987981754]]], "std": [[[0.22492463411771768]], [[0.2520340634922234]], [[0.2839340364048957]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5065148335836113]], [[0.42263043894127666]], [[0.35465879253312654]]], "std": [[[0.22280775504719075]], [[0.2558309398165585]], [[0.2872998161339504]]], "count": [156]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [841]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [841]}, "observation.state": {"min": [0.7976428592151944, -1.8492126438485523, 0.6999947674738508, 0.0, 0.0, -1.0, 0.0, 0.01339392465268019, -0.5718532467734982, 0.24132624690750182, -0.9903886318206787, -0.7540388703346252, -0.3270692527294159, 0.0022936861496418715, 0.0009878804293168837, -0.043774492468496504], "max": [0.8028382174736644, -1.8473786586606682, 0.7072348768604678, 0.0, 0.0, 1.0, 0.0004232366045471281, 0.4381774730052438, 0.3050585012964995, 0.6227376001718261, 0.9511829614639282, 0.7714155316352844, 0.41163116693496704, 0.6284313797950745, 0.04004292956787992, -0.0007477921565532836], "mean": [0.7979312805594039, -1.8476226396939934, 0.7039314934217048, 0.0, 0.0, 0.13198573113054782, 3.0490232673578458e-05, 0.22393296533209364, -0.08603507867350915, 0.4119369123235568, -0.5649707263842775, 0.3544224401255992, -0.01913229836634522, 0.27261255558122804, 0.03418779620111596, -0.03714159306371591], "std": [0.00042850062550334867, 8.728782716390499e-05, 0.002091694826691543, 0.0, 0.0, 0.991251616137116, 5.341652976346093e-05, 0.09636611661953161, 0.2126825064328346, 0.08301888549704728, 0.535954854494215, 0.35207575646107475, 0.1794175003258076, 0.19264885225025943, 0.009964149381785333, 0.006347489130262454], "count": [841]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5942857142857143, -0.38857142857142857, -0.36, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.7171428571428572, 0.6542857142857142, 0.5571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004654323084763027, -0.011533888228299654, -0.009707830813657227, 0.008574825887548864, 0.016881263801596713, 0.03285884151520299, -0.4958382877526754], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5466760237744531, 0.42054810504157375, 0.4327660891966104, 0.15002842956778067, 0.15898077263982077, 0.1410421220529111, 0.8684148734323344], "count": [841]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01902497000992298], "std": [0.136612668633461], "count": [841]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011890606420927466], "std": [0.034462251477263825], "count": [841]}, "timestamp": {"min": [0.0], "max": [42.0], "mean": [21.0], "std": [12.138780828402826], "count": [841]}, "frame_index": {"min": [0], "max": [840], "mean": [420.0], "std": [242.77561656805653], "count": [841]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [841]}, "index": {"min": [23318], "max": [24158], "mean": [23738.0], "std": [242.77561656805653], "count": [841]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [841]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5587676259654129]], [[0.5050487068575824]], [[0.48910904063217453]]], "std": [[[0.24293617546112842]], [[0.2585980084715791]], [[0.2684836073196322]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5738912431381274]], [[0.4909840462372894]], [[0.43978564692478556]]], "std": [[[0.1938317174380155]], [[0.23805321750170444]], [[0.27660904811648196]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.054901960784313725]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5327107883736465]], [[0.4592505513009199]], [[0.41437516429046156]]], "std": [[[0.19332889858588642]], [[0.2249417076334278]], [[0.2557106721811596]]], "count": [158]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [856]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [856]}, "observation.state": {"min": [4.882299709014542, -6.683068651107177, 0.6999971577820265, 0.0, 0.0, -0.00544140487909317, 0.9999852180480957, 0.02236000186796172, -0.2512224686669091, 0.22874087478285343, -0.9997124671936035, -0.6677661538124084, -0.4833800494670868, 1.8287199054611847e-05, 0.0011864825304916363, -0.042024916647800954], "max": [4.882909239836577, -6.425216701079501, 0.7100072150304029, 0.0, 0.0, 0.00015104937483556569, 1.0, 0.415202549139293, 0.46587965079346105, 0.6089887178687698, 0.9991456866264343, 0.6396222710609436, 0.2865501940250397, 0.6088730692863464, 0.040295347921622, -0.0013719672232902814], "mean": [4.882522066366648, -6.431770316567231, 0.7056608253718448, 0.0, 0.0, -0.004811080356652875, 0.9999882344887635, 0.2402269937576715, -0.02763509193210811, 0.4020733769928672, -0.29790287565822915, 0.10758136330546689, -0.06819727057920369, 0.14006077017883203, 0.03384893761856074, -0.03640612327145851], "std": [6.180889984668686e-05, 0.03664211355250171, 0.0030878460732213565, 0.0, 0.0, 0.0006713417199606485, 1.7700223966730817e-06, 0.09075041426485222, 0.19877032478109655, 0.09698344055100622, 0.8392143947844835, 0.3438797342530852, 0.13921553150073918, 0.18302241954200793, 0.009971705882857675, 0.006400274773265644], "count": [856]}, "action": {"min": [-0.08571428571428573, 0.0, -0.037142857142857144, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5571428571428572, -0.29428571428571426, -0.66, -1.0], "max": [0.0, 0.8785714285714286, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.48, 0.5085714285714286, 0.36857142857142855, 1.0], "mean": [-0.0004255674232309747, 0.012958945260347129, -0.00032376502002670225, 0.0, -0.897196261682243, -0.006216622162883856, -0.015253671562082736, -0.05614986648865165, 0.009916555407209628, 0.01997997329773031, 0.000707610146862485, -0.5093457943925234], "std": [0.004943181894432754, 0.08176812202625211, 0.002699256008942628, 0.0, 0.4416320504938696, 0.4472873319984311, 0.4494277280945665, 0.37555544540000874, 0.14558566766153536, 0.12627899768369194, 0.13424890468310163, 0.860561945320987], "count": [856]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018691588193178177], "std": [0.13543343544006348], "count": [856]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011682242990654205], "std": [0.03415932597479777], "count": [856]}, "timestamp": {"min": [0.0], "max": [42.75], "mean": [21.375], "std": [12.355287329722445], "count": [856]}, "frame_index": {"min": [0], "max": [855], "mean": [427.5], "std": [247.1057465944489], "count": [856]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [856]}, "index": {"min": [24159], "max": [25014], "mean": [24586.5], "std": [247.1057465944489], "count": [856]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [856]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4819684886752212]], [[0.46005369634568033]], [[0.44123947981490924]]], "std": [[[0.2787969386531279]], [[0.27137166401488616]], [[0.26852527605542853]]], "count": [301]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6451797291522895]], [[0.635079685092151]], [[0.6208695786976672]]], "std": [[[0.19782048540375385]], [[0.19950271065152134]], [[0.2007266650047003]]], "count": [301]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6378722874165109]], [[0.6298582904898423]], [[0.6171826660124442]]], "std": [[[0.21698620413331465]], [[0.21913957450847607]], [[0.21913429193126135]]], "count": [301]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [2024]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2024]}, "observation.state": {"min": [0.7463122941096085, -2.5962054216061543, 0.6999984296226832, 0.0, 0.0, 0.9995026588439941, 0.0, 0.04650541700297073, -0.4661372672082922, 0.2173446060786216, -0.9994898438453674, -0.4757222533226013, -0.7410363554954529, 0.00023259299632627517, -0.0006175420524138095, -0.04084010396525223], "max": [0.9109102660561628, -1.895868163565246, 0.7200737388269021, 0.0, 0.0, 1.0, 0.03153667226433754, 0.3966956276256247, 0.35471799870890464, 0.6120879704199094, 0.9977380037307739, 0.6878335475921631, 0.6131531596183777, 0.4823496341705322, 0.040033422926824436, -0.0003847623014886783], "mean": [0.756968434956729, -2.383123512046339, 0.7139046103063333, 0.0, 0.0, 0.9998616070556546, 0.011914974147232879, 0.21553237850403842, -0.18995420410030672, 0.4168687551932442, -0.09033411113994395, 0.13420034763900188, -0.0981287545297189, 0.08564410184564204, 0.03287300825444231, -0.03467623806240295], "std": [0.02453344086793292, 0.3161055638613683, 0.006070700786890511, 0.0, 0.0, 0.00019903521868630154, 0.011609205654338957, 0.08249939658842084, 0.2512901279753471, 0.08735588867247895, 0.8857806941340641, 0.2975830492276984, 0.2692302188924113, 0.10591424890768442, 0.011247737285616883, 0.009829543328621538], "count": [2024]}, "action": {"min": [-0.675, -0.7473214285714286, -0.20857142857142857, 0.0, -1.0, -0.6107142857142858, -0.6348214285714286, -0.9375, -0.26285714285714284, -0.4, -0.5114285714285715, -1.0], "max": [0.5812499999999999, 0.7258928571428571, 0.0, 0.0, 1.0, 0.47678571428571426, 0.8758928571428571, 0.6267857142857143, 0.25142857142857145, 0.28, 0.4742857142857143, 1.0], "mean": [0.0071410926030491245, -0.005007763975155277, -0.0014215132693393563, 0.0, -0.8359683794466403, -0.007671777950310564, 0.021760746047430817, -0.07434359119141702, 0.00304771315640881, 0.0035502540937323514, 0.003193111236589509, -0.47134387351778656], "std": [0.07891546741533494, 0.11854312998644356, 0.011413030732536343, 0.0, 0.5487776130322352, 0.21138205802315913, 0.22607208112373284, 0.25939883997479923, 0.05559130164911061, 0.08228368819739032, 0.11468781630081139, 0.8819495183383456], "count": [2024]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007905138656497002], "std": [0.08855871856212616], "count": [2024]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004940711462450593], "std": [0.02222221950992986], "count": [2024]}, "timestamp": {"min": [0.0], "max": [101.15], "mean": [50.574999999999996], "std": [29.21392005534348], "count": [2024]}, "frame_index": {"min": [0], "max": [2023], "mean": [1011.5], "std": [584.2784011068696], "count": [2024]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2024]}, "index": {"min": [25015], "max": [27038], "mean": [26026.5], "std": [584.2784011068696], "count": [2024]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [2024]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46190702009156526]], [[0.423113271797977]], [[0.3996662695025927]]], "std": [[[0.24869280147260212]], [[0.2443357610005852]], [[0.23821395391537595]]], "count": [294]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6410227333527811]], [[0.632317241471784]], [[0.6213200227600806]]], "std": [[[0.22338102261407825]], [[0.2250814007674465]], [[0.219430960540548]]], "count": [294]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6186845895177733]], [[0.6113344837446697]], [[0.6015153563052825]]], "std": [[[0.24081491420522275]], [[0.24206419482580988]], [[0.2391278768456198]]], "count": [294]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1955]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1955]}, "observation.state": {"min": [2.182787252216577, -4.798813453568943, 0.6999536083786093, 0.0, 0.0, -0.039168912917375565, 0.9992325305938721, 0.030732238462224615, -0.45788339982860027, 0.2269129793213296, -0.9982004761695862, -0.6550332903862, -0.5917680263519287, 5.844416591571644e-05, -0.0006176122806895656, -0.040626670948753406], "max": [2.2941807318623297, -4.455484731012732, 0.7098538178833694, 0.0, 0.0, 1.3945016519301134e-07, 1.0, 0.42899533756118213, 0.35213363660478736, 0.5994449294651955, 0.9974035024642944, 0.7108463644981384, 0.5845115184783936, 0.6732739210128784, 0.0424261381033853, 0.00022967611409319003], "mean": [2.2901174013100474, -4.465901605198498, 0.7053556798437126, 0.0, 0.0, -0.02478935825100554, 0.9996888207047797, 0.23967768606487666, -0.23430403157942278, 0.42849177558224827, -0.48499340526283247, 0.20472766862386632, -0.08234338438877321, 0.11960295850330743, 0.033969402052100604, -0.032366336216918354], "std": [0.013416569306073056, 0.044387366626350976, 0.002872190060258911, 0.0, 0.0, 0.0027844986956175608, 5.336450541413508e-05, 0.09288902649896004, 0.22775339687053817, 0.08784544253956157, 0.7196017994510576, 0.3149300048891857, 0.24949065704575948, 0.15009807301861672, 0.011253792954228632, 0.013085983142126662], "count": [1955]}, "action": {"min": [-0.5571428571428572, -0.24107142857142855, -0.18, 0.0, -1.0, -0.7633928571428571, -0.8035714285714287, -0.7848214285714286, -0.39714285714285713, -0.32571428571428573, -0.4714285714285714, -1.0], "max": [0.525, 0.5892857142857143, 0.06285714285714286, 0.0, 1.0, 0.5383928571428572, 0.8142857142857143, 0.6133928571428572, 0.4971428571428572, 0.4285714285714286, 0.7571428571428571, 1.0], "mean": [0.0025580014614541477, 0.007104037267080746, -0.00078772378516624, 0.0, -0.9058823529411765, -0.017623766898063577, -0.012676287906466875, -0.032041468761417634, 0.008679576178297402, 0.007748629886737305, 0.0021264157837047794, -0.3278772378516624], "std": [0.059154209342851344, 0.06478442716817287, 0.012083256928606545, 0.0, 0.4235294117647159, 0.24567372183094707, 0.2597249948692678, 0.22495754857319, 0.08831719967332236, 0.0944923471195137, 0.12747067667925963, 0.9447203379301018], "count": [1955]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008184143342077732], "std": [0.09009530395269394], "count": [1955]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005115089514066496], "std": [0.02261077862434818], "count": [1955]}, "timestamp": {"min": [0.0], "max": [97.7], "mean": [48.85], "std": [28.217990715144833], "count": [1955]}, "frame_index": {"min": [0], "max": [1954], "mean": [977.0], "std": [564.3598143028967], "count": [1955]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1955]}, "index": {"min": [27039], "max": [28993], "mean": [28016.0], "std": [564.3598143028967], "count": [1955]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1955]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.540712646177765]], [[0.5251080973069916]], [[0.5164329945451919]]], "std": [[[0.24415676051771698]], [[0.25090037835537843]], [[0.26050096052205246]]], "count": [242]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446005618933476]], [[0.4747452697111015]], [[0.434114473052667]]], "std": [[[0.20074933688650348]], [[0.23016977625522358]], [[0.26138219631354714]]], "count": [242]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5646459497560888]], [[0.4864195644865158]], [[0.4380772339816689]]], "std": [[[0.20091991274031668]], [[0.2414869372735512]], [[0.27815137715581173]]], "count": [242]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1510]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1510]}, "observation.state": {"min": [2.2401456456761752, -0.8414288442834799, 0.6999976258704318, 0.0, 0.0, 0.7049826979637146, 0.7070144414901733, 0.024021475085083344, -0.285394528426687, 0.2062329660798603, -0.9989984631538391, -0.3678452968597412, -0.6674825549125671, 5.669557140208781e-05, -0.0008758805267571012, -0.04131888996897389], "max": [2.679799255522982, -0.7841587525607445, 0.7178331105471586, 0.0, 0.0, 0.7071991562843323, 0.7092245817184448, 0.4801617379371801, 0.2896516488051122, 0.5899686950039001, 0.9980118274688721, 0.6636915802955627, 0.18223249912261963, 0.4699419438838959, 0.04047642382192568, 2.7955246286554674e-05], "mean": [2.3467602695540393, -0.7895517876910051, 0.7093200442538165, 0.0, 0.0, 0.7069409490421118, 0.7072725491018484, 0.2952635371484725, -0.12314258659965521, 0.3902672321311895, -0.561843200906223, 0.08836084818159112, -0.16400101550517254, 0.1515228137219057, 0.034172861603138045, -0.03518414976775206], "std": [0.18461264520028964, 0.005128077670031186, 0.005810602610284337, 0.0, 0.0, 0.00018614229063710434, 0.00018570041051997962, 0.12071319572203355, 0.16741460950454615, 0.09019929342914507, 0.7072971474349787, 0.24331924842313146, 0.21918270824226882, 0.1383998089182467, 0.011118005035199002, 0.009492818327849348], "count": [1510]}, "action": {"min": [-0.9071428571428573, -1.0, -0.12285714285714287, 0.0, -1.0, -1.0, -1.0, -1.0, -0.37142857142857144, -0.5828571428571429, -0.3657142857142857, -1.0], "max": [0.4, 0.8714285714285716, 0.025714285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.36857142857142855, 0.31142857142857144, 0.56, 1.0], "mean": [0.000501419110690634, -0.0007568590350047304, -1.3245033112582784e-05, 0.0, -0.8596026490066225, -0.007738883632923364, 0.0016177861873226175, -0.05862346263008512, 0.008384105960264903, 0.0007473982970671634, 0.009371807000946074, -0.6569536423841059], "std": [0.04786090544959791, 0.11828804379205131, 0.0041010137227392805, 0.0, 0.5109630963394476, 0.3633482421359384, 0.2771651755634488, 0.30041981482495833, 0.06783961868112479, 0.1056154815108907, 0.1073262889958849, 0.7539309728073567], "count": [1510]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010596026666462421], "std": [0.10239017754793167], "count": [1510]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006622516556291391], "std": [0.025725727946430507], "count": [1510]}, "timestamp": {"min": [0.0], "max": [75.45], "mean": [37.725], "std": [21.794967882518204], "count": [1510]}, "frame_index": {"min": [0], "max": [1509], "mean": [754.5], "std": [435.89935765036404], "count": [1510]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1510]}, "index": {"min": [28994], "max": [30503], "mean": [29748.5], "std": [435.89935765036404], "count": [1510]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1510]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4503635270386331]], [[0.42785382689252544]], [[0.4136466148619252]]], "std": [[[0.19353837890233183]], [[0.1848040629425195]], [[0.1878601311743021]]], "count": [244]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.06274509803921569]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4010744014532763]], [[0.3618023626216544]], [[0.3469444272449951]]], "std": [[[0.2180531338617911]], [[0.2382060039974754]], [[0.24726770286494063]]], "count": [244]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.07450980392156863]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37850393591414533]], [[0.34138859816587686]], [[0.32727358826331027]]], "std": [[[0.2017268085133875]], [[0.22070734166840567]], [[0.22930951352696824]]], "count": [244]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1533]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1533]}, "observation.state": {"min": [0.8379290732688389, -2.392535009870939, 0.6999943242761211, 0.0, 0.0, -1.0, 5.912270353292115e-07, 0.07422825574812209, -0.3779607329956116, 0.24237876310202255, -0.9961951971054077, -0.35337409377098083, -0.35588979721069336, 2.6336345399613492e-05, -2.282789528654002e-05, -0.04177754584831829], "max": [0.838275154599682, -2.392332478318228, 0.7090188257342257, 0.0, 0.0, 1.0, 0.00019268723553977907, 0.47685693603180246, 0.5697360485593599, 0.5930877928418079, 0.9977359175682068, 0.7560589909553528, 0.30100229382514954, 0.6683690547943115, 0.04076276986435897, 0.0012650982862546863], "mean": [0.8380916875702302, -2.3924567592694257, 0.7059158337177989, 0.0, 0.0, 0.9726027397260274, 8.1989297546335e-05, 0.3129366230673476, 0.1584906850228795, 0.3919371224149411, 0.3724161663614529, 0.4386882759139807, -0.008857543194745937, 0.26952066606891145, 0.03181549535514523, -0.03448406743482878], "std": [3.590297218102195e-05, 2.2602837181616506e-05, 0.0025733559566619283, 0.0, 0.0, 0.2324734623079098, 2.9656426444341982e-05, 0.10250071822282057, 0.18634248343315932, 0.07996761820926614, 0.6638221111396623, 0.28700653524341246, 0.14185400777758575, 0.23018218562799203, 0.01314613342573098, 0.011415716341654917], "count": [1533]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8705357142857143, -0.6883928571428571, -0.9375, -0.4514285714285714, -0.4228571428571429, -0.6171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.7178571428571429, 0.8866071428571427, 0.5812499999999999, 0.2542857142857143, 0.3914285714285714, 0.5371428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -0.9712981082844097, -0.010104487000279576, 0.028539977634889628, -0.029450307520268303, -0.006612617649799653, -0.000956108470785579, -0.009205106700214348, -0.3698630136986301], "std": [0.0, 0.0, 0.0, 0.0, 0.23786547635823915, 0.31483980335904177, 0.22489364548053092, 0.2463865379046726, 0.1022523468090531, 0.10362800759810412, 0.1586948477433391, 0.9290862990582635], "count": [1533]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010437051765620708], "std": [0.10162734985351562], "count": [1533]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006523157208088715], "std": [0.025532140627241913], "count": [1533]}, "timestamp": {"min": [0.0], "max": [76.6], "mean": [38.3], "std": [22.126944359008696], "count": [1533]}, "frame_index": {"min": [0], "max": [1532], "mean": [766.0], "std": [442.53888718017384], "count": [1533]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1533]}, "index": {"min": [30504], "max": [32036], "mean": [31270.0], "std": [442.53888718017384], "count": [1533]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1533]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6044330594886529]], [[0.5902570632954361]], [[0.5792410858310296]]], "std": [[[0.22633602584359538]], [[0.2344974797590637]], [[0.24789891392862937]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5779393477908096]], [[0.576437649880029]], [[0.5801995356932216]]], "std": [[[0.288399897050071]], [[0.28919061816187897]], [[0.2858151506386265]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5057533383487682]], [[0.5040704155710422]], [[0.5109021411004288]]], "std": [[[0.2960662365670728]], [[0.29703820445802603]], [[0.2909185756491755]]], "count": [257]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1641]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1641]}, "observation.state": {"min": [4.266047092316903, -0.8229104141912515, 0.6999975010719856, 0.0, 0.0, 0.7064228653907776, 0.7069765329360962, 0.1137951180425808, -0.4909990135528588, 0.22036862207522967, -0.9994047284126282, -0.5438368320465088, -0.6827729940414429, 4.285219984012656e-05, 0.0005768474679336632, -0.041117017025954446], "max": [4.5676476640579295, -0.8217537010951099, 0.7167524322550023, 0.0, 0.0, 0.7072370648384094, 0.707789957523346, 0.5073483444775978, 0.3887627857208873, 0.6027605460449943, 0.9996694326400757, 0.7632637023925781, 0.28229522705078125, 0.6258352994918823, 0.040337055057315045, 3.512320178520745e-05], "mean": [4.270230178894704, -0.8222584732875181, 0.7094501523656513, 0.0, 0.0, 0.7070236127598848, 0.7071899702678287, 0.30920018594383514, -0.2575150151942888, 0.397284359537875, -0.4129757669043207, 0.12884675978247637, -0.15494023069971605, 0.1410759786153463, 0.03135306805921433, -0.03369878997277847], "std": [0.03228019268235488, 5.7504714792148435e-05, 0.004944765426790108, 0.0, 0.0, 5.963997131751645e-05, 5.960957744589762e-05, 0.09874501945080034, 0.19993179752470577, 0.08492470892971338, 0.7548083244237279, 0.3303251500584719, 0.2531320515397672, 0.16129002022097105, 0.013011705859759533, 0.011012606413251828], "count": [1641]}, "action": {"min": [-0.25, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.37714285714285717, -0.2857142857142857, -0.4285714285714286, -1.0], "max": [0.007142857142857143, 0.9642857142857144, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.29428571428571426, 0.29428571428571426, 0.5742857142857143, 1.0], "mean": [-0.00030904500739966924, 0.006028554017585097, 0.0, 0.0, -0.9488117001828154, -0.009410638112649073, -0.008897014015843972, -0.07696526508226698, 0.019745799599547306, 0.004495516671019423, 0.006941760250718195, -0.408897014015844], "std": [0.007179604465923966, 0.06577288525809531, 0.0, 0.0, 0.3158422986178352, 0.34745919297827194, 0.3366262454389084, 0.3420405757363894, 0.0843146516999632, 0.09048490658948878, 0.12217950753655243, 0.9125805344893806], "count": [1641]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009750152006745338], "std": [0.0982603058218956], "count": [1641]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006093845216331506], "std": [0.024678192238045807], "count": [1641]}, "timestamp": {"min": [0.0], "max": [82.0], "mean": [41.0], "std": [23.685790395650017], "count": [1641]}, "frame_index": {"min": [0], "max": [1640], "mean": [820.0], "std": [473.7158079130004], "count": [1641]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1641]}, "index": {"min": [32037], "max": [33677], "mean": [32857.0], "std": [473.7158079130004], "count": [1641]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1641]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3701721080594419]], [[0.3426552614845972]], [[0.324732153400097]]], "std": [[[0.24853581244187686]], [[0.2460312889501952]], [[0.25137352136905494]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6316862972040668]], [[0.54285140027148]], [[0.4834479194148001]]], "std": [[[0.18271870658352413]], [[0.20968652562481593]], [[0.21341960253371284]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5814922405714794]], [[0.5031754190135135]], [[0.4543743365326334]]], "std": [[[0.2112055636126121]], [[0.2200016958459054]], [[0.2166071627904677]]], "count": [162]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [884]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [884]}, "observation.state": {"min": [0.8467897371126265, -3.3307721160739505, 0.6999972032117089, 0.0, 0.0, -1.0, 8.768932246994154e-08, 0.060191521824375926, -0.15946486132527005, 0.22553025837652363, -0.9943233132362366, -0.758787989616394, -0.2586182951927185, 6.848324846941978e-05, 0.00116108466051586, -0.04066739186977704], "max": [0.8557344817537006, -3.324343163495889, 0.7077907687053493, 0.0, 0.0, 1.0, 0.0052966466173529625, 0.5795031874032632, 0.5091483336217446, 0.5891620371676587, 0.9922419786453247, 0.95461106300354, 0.2744614779949188, 0.8113769888877869, 0.040795989189065976, -0.00034541535993057055], "mean": [0.8536459485412159, -3.328524577788857, 0.7046011729821706, 0.0, 0.0, -0.8167357707724852, 0.0028597161081566056, 0.31091161420957203, 0.023289226678509536, 0.3834897863032364, -0.34160878113154913, 0.39742039400258217, -0.015445950130599644, 0.2463723765933899, 0.03296407452159199, -0.033898760394196266], "std": [0.0029508556808113748, 0.00217044795332275, 0.0023722204383290232, 0.0, 0.0, 0.5770008923701472, 0.0021286606323982693, 0.10329822515866414, 0.18019635418917282, 0.0668889533814234, 0.5564925529853126, 0.5267585606336002, 0.1398726724213888, 0.24020747348656313, 0.011344647585165017, 0.008244195214803489], "count": [884]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.32571428571428573, -0.3628571428571429, -0.6057142857142859, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.8285714285714287, 0.6828571428571428, 0.4657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012354557207498397, 0.015077569489334192, -0.03065610859728502, 0.01269230769230765, 0.03674854557207498, 0.004722042663219127, -0.4660633484162896], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5167287811509066, 0.4190263791919725, 0.38908697338146664, 0.15631893238551492, 0.1530184844947268, 0.13369011984333984, 0.884751352224455], "count": [884]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018099548295140266], "std": [0.13331149518489838], "count": [884]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011312217194570137], "std": [0.03361461076494033], "count": [884]}, "timestamp": {"min": [0.0], "max": [44.15], "mean": [22.075], "std": [12.759432785198564], "count": [884]}, "frame_index": {"min": [0], "max": [883], "mean": [441.5], "std": [255.18865570397128], "count": [884]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [884]}, "index": {"min": [33678], "max": [34561], "mean": [34119.5], "std": [255.18865570397128], "count": [884]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [884]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4143812862364184]], [[0.3820979702305727]], [[0.3635955122405407]]], "std": [[[0.24818042934008056]], [[0.2455819977017998]], [[0.24630159253490244]]], "count": [280]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5766625632491766]], [[0.5090516592073842]], [[0.4614803966020002]]], "std": [[[0.20363748459791337]], [[0.2064915438322292]], [[0.20213520504490184]]], "count": [280]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6078492978307046]], [[0.5266419279809091]], [[0.4668066613547274]]], "std": [[[0.19518882765232476]], [[0.2129175408171429]], [[0.21698963155376616]]], "count": [280]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1835]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1835]}, "observation.state": {"min": [0.83218586808821, -5.804861311338459, 0.6999977460654487, 0.0, 0.0, -1.0, 1.1294644536974374e-05, -0.07685438884065443, -0.39229298048305505, 0.22311945989832882, -0.9997189044952393, -0.7077827453613281, -0.6987197399139404, 2.6027240892290138e-05, 0.00012132519444330981, -0.04395772583158208], "max": [1.104990769608901, -5.099725525629427, 0.7204061342311752, 0.0, 0.0, 1.0, 0.0038773908745497465, 0.530022646800536, 0.38228607641363865, 0.5925227151935544, 0.9999746084213257, 0.7767618894577026, 0.6756188869476318, 0.5628160238265991, 0.04438377503798786, -0.0005398662701878703], "mean": [0.8535430733680945, -5.603133569574523, 0.7126031720810538, 0.0, 0.0, -0.9509491686600106, 0.002842557209590216, 0.28147459735933017, -0.1363097686221644, 0.40576435751318907, -0.2243995242937384, 0.0033807721773126955, -0.12372530158848644, 0.12877189756123322, 0.031992557912364036, -0.03400295700517682], "std": [0.02992387875018598, 0.31336907966111216, 0.006380594959610149, 0.0, 0.0, 0.30933258116453916, 0.0010076566881143385, 0.13043598775860962, 0.24023578851161453, 0.0946957276809008, 0.8365860603843086, 0.3546906302482148, 0.2753450097485795, 0.1274625990520634, 0.012718650649269674, 0.010783112343938696], "count": [1835]}, "action": {"min": [-1.0, -1.0, -0.08285714285714285, 0.0, -1.0, -1.0, -1.0, -1.0, -0.17142857142857143, -0.30285714285714294, -0.40571428571428575, -1.0], "max": [0.8857142857142857, 1.0, 0.07142857142857142, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3314285714285714, 0.6457142857142857, 0.4714285714285714, 1.0], "mean": [0.0009108602569093031, -0.0030089528999610753, 4.515375632541847e-05, 0.0, -0.8517711171662126, -0.009976644608797183, 0.01634098871156091, -0.06479564032697552, 0.022058388478007042, 0.021563254184507552, 0.003196574542623567, -0.46158038147138963], "std": [0.08928063982745996, 0.1301355244198976, 0.004136653488330231, 0.0, 0.5239140807054354, 0.38966630077200193, 0.2706911616627859, 0.36058271991647584, 0.07486641858182116, 0.12822682372565486, 0.10447514432131472, 0.887098388816437], "count": [1835]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008719346486032009], "std": [0.09296945482492447], "count": [1835]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005449591280653951], "std": [0.023337997935001478], "count": [1835]}, "timestamp": {"min": [0.0], "max": [91.7], "mean": [45.85], "std": [26.48593966617005], "count": [1835]}, "frame_index": {"min": [0], "max": [1834], "mean": [917.0], "std": [529.718793323401], "count": [1835]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1835]}, "index": {"min": [34562], "max": [36396], "mean": [35479.0], "std": [529.718793323401], "count": [1835]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1835]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4117029761196839]], [[0.3971008610497532]], [[0.38336565688814783]]], "std": [[[0.278076904578891]], [[0.274944201623479]], [[0.2718898197356536]]], "count": [199]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5595856957769662]], [[0.5509081624108403]], [[0.5382594820571915]]], "std": [[[0.21760669002732935]], [[0.21651997785149638]], [[0.2180619950861786]]], "count": [199]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49052565745008747]], [[0.4857303268698733]], [[0.47953554928296893]]], "std": [[[0.23961291950896135]], [[0.23618422020237062]], [[0.2328608613646491]]], "count": [199]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1164]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1164]}, "observation.state": {"min": [0.8201529346502463, -3.2379994581867435, 0.699994353855206, 0.0, 0.0, -1.0, 0.0, 0.14534913120959825, -0.09683799577407948, 0.24518657493670193, -0.9964556097984314, -0.32440707087516785, -0.43283790349960327, 0.00011358573101460934, 0.0012591717408879748, -0.04097968428096093], "max": [0.8203786569797871, -3.2377076127920863, 0.7095856003932532, 0.0, 0.0, 1.0, 0.00025482079945504665, 0.5407629128368914, 0.6590063545431772, 0.5934326928889111, 0.964640200138092, 0.9590679407119751, 0.349651962518692, 0.7583093047142029, 0.04095749684597887, -0.0020637338596911706], "mean": [0.8201834424021681, -3.2378075980134775, 0.7061345147285333, 0.0, 0.0, 0.018900343642611683, 1.906113309629311e-05, 0.3297657782500119, 0.09480470367473214, 0.4111427370279203, -0.6136493749418088, 0.40175015599022, -0.0831522780892276, 0.2692131701232469, 0.03211211530033954, -0.03331775298696727], "std": [2.6861532564312412e-05, 2.6893973453891746e-05, 0.0024430846475356044, 0.0, 0.0, 0.9998213725512117, 3.442924142229917e-05, 0.10129275404677601, 0.2191847525719792, 0.07985481441073145, 0.4683137213557156, 0.2973787829976565, 0.1704084848752433, 0.21412681657630786, 0.01122244485289109, 0.008857337746910955], "count": [1164]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.44571428571428573, -0.29428571428571426, -0.56, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9642857142857144, 1.0, 1.0, 0.6885714285714286, 0.48571428571428577, 0.5514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010959744722631299, 0.007081492390770724, -0.028724840451644622, 0.018210603829160506, 0.014469808541973486, -0.022425135002454594, -0.36082474226804123], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.41155442372088763, 0.35828107248739544, 0.409546345986129, 0.12297201065598662, 0.10728503633055517, 0.15263300034900953, 0.9326336394143258], "count": [1164]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022336769849061966], "std": [0.14777632057666779], "count": [1164]}, "next.done": {"min": [false], "max": [true], "mean": [0.000859106529209622], "std": [0.02929792595357377], "count": [1164]}, "timestamp": {"min": [0.0], "max": [58.15], "mean": [29.075000000000003], "std": [16.80088663334964], "count": [1164]}, "frame_index": {"min": [0], "max": [1163], "mean": [581.5], "std": [336.01773266699286], "count": [1164]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1164]}, "index": {"min": [36397], "max": [37560], "mean": [36978.5], "std": [336.01773266699286], "count": [1164]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1164]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5046374949332025]], [[0.4785231264268932]], [[0.4489216318542783]]], "std": [[[0.22748731659792842]], [[0.22795095195908144]], [[0.2382795155799017]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495047663222974]], [[0.3757489134790541]], [[0.334283509627319]]], "std": [[[0.2358724799483207]], [[0.27879108094783495]], [[0.3027448871927774]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5376877807934404]], [[0.36702590210624203]], [[0.3293175675473032]]], "std": [[[0.24102628186820088]], [[0.2773516446750228]], [[0.3009217148916859]]], "count": [166]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [913]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [913]}, "observation.state": {"min": [5.73956849604252, -3.901168631967006, 0.6999905784983345, 0.0, 0.0, -0.7074353098869324, 0.7067780494689941, 0.1083531502575581, -0.1580288238505947, 0.2333203204444646, -0.997372031211853, -0.4896647334098816, -0.6104922890663147, 0.00021045550238341093, -0.0013194781829718753, -0.04231227504700697], "max": [5.740295001606136, -3.899397985766564, 0.7127530570049462, 0.0, 0.0, -0.7068189978599548, 0.7073943614959717, 0.46700233852210005, 0.6540471250105506, 0.6249181708029534, 0.9970194697380066, 0.7007486820220947, 0.38708731532096863, 0.523749589920044, 0.04397296786807267, -0.0014855346482137853], "mean": [5.739895687894985, -3.9010545359608484, 0.708765165546004, 0.0, 0.0, -0.7071023829534308, 0.7071111315181978, 0.30116467493932414, 0.09050735144696141, 0.40191254914848296, -0.40845338949629667, 0.1382618692314899, -0.10906644661776055, 0.12538566113698785, 0.03258161690117639, -0.03394218185968264], "std": [5.54360185722881e-05, 9.289057227141396e-05, 0.004063515777553661, 0.0, 0.0, 5.0644901304719604e-05, 5.064973089680285e-05, 0.08321094601992267, 0.21452755593147554, 0.07574156600706261, 0.7820318090230562, 0.3168543924894194, 0.24588928216282457, 0.11832343137123325, 0.009447542433819206, 0.008309985930921568], "count": [913]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6057142857142859, -0.5371428571428571, -0.43428571428571433, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.6371428571428571, 0.9657142857142857, 0.5914285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02117821937099046, -0.039829447660772975, -0.041605382569237945, -0.015068064465654828, 0.032257862619308374, -0.01474886559223909, -0.3910186199342826], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4720444997057111, 0.3947364021791608, 0.4401693081744983, 0.12856080709823295, 0.19543906660871568, 0.12774829989755904, 0.9203827675835127], "count": [913]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01752464473247528], "std": [0.13121558725833893], "count": [913]}, "next.done": {"min": [false], "max": [true], "mean": [0.001095290251916758], "std": [0.03307704024215005], "count": [913]}, "timestamp": {"min": [0.0], "max": [45.6], "mean": [22.8], "std": [13.178011989674316], "count": [913]}, "frame_index": {"min": [0], "max": [912], "mean": [456.0], "std": [263.5602397934863], "count": [913]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [913]}, "index": {"min": [37561], "max": [38473], "mean": [38017.0], "std": [263.5602397934863], "count": [913]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [913]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41686453837719983]], [[0.40730116509494424]], [[0.4035534632147129]]], "std": [[[0.18582051952513837]], [[0.16721591613105483]], [[0.17665095657503982]]], "count": [294]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.06274509803921569]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47797508550132295]], [[0.46363880553849146]], [[0.46022660142344696]]], "std": [[[0.17870907721727836]], [[0.1908486209130149]], [[0.1967026649638275]]], "count": [294]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45559161775061585]], [[0.4447109566889907]], [[0.44587197000382184]]], "std": [[[0.19353194478054986]], [[0.19624671775526947]], [[0.2068787805841236]]], "count": [294]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1961]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1961]}, "observation.state": {"min": [4.005342094415453, -0.7852351717159359, 0.6998853896020724, 0.0, 0.0, 0.7068604826927185, 0.7070209980010986, 0.12985918676702235, -0.6560458339267177, 0.24669520007312074, -0.9941049814224243, -0.9980206489562988, -0.680533230304718, 0.0010256009409204125, 9.582484966760543e-05, -0.040938200706649226], "max": [4.005749087503313, -0.7842862402090689, 0.705452244504078, 0.0, 0.0, 0.7071926593780518, 0.7073529958724976, 0.502349992054877, 0.2649099381242048, 0.6117091242426209, 0.9901453852653503, 0.9984655976295471, 0.7214763760566711, 0.6742838025093079, 0.04129726803689669, -8.892929254596962e-06], "mean": [4.005508119172099, -0.7844648854626926, 0.7027490612880453, 0.0, 0.0, 0.707049582182054, 0.7071639412462195, 0.3153119649562415, 0.037055656709329324, 0.39822227212861705, -0.05169376388105657, 0.5787268261264199, -0.09259405279834329, 0.2794310579484011, 0.03398159704548916, -0.035513821726174094], "std": [3.3941959429658475e-05, 3.783546982684431e-05, 0.0018444403694177305, 0.0, 0.0, 3.4242325176779155e-05, 3.424743015584492e-05, 0.08881663397147861, 0.2362099620438798, 0.07017741371854322, 0.48054499096082376, 0.5121042896535352, 0.226275747516825, 0.17712322207718906, 0.01076929767726693, 0.00998637078554116], "count": [1961]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7473214285714286, -0.7794642857142858, -0.825, -0.6314285714285715, -0.18571428571428572, -0.5771428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6080357142857142, 0.811607142857143, 0.9133928571428572, 0.4657142857142857, 0.7685714285714286, 0.6, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.032911870765644315, 0.035897774459095165, 0.1677979529394623, -0.005516136082173851, 0.0986187805055731, 0.01820499745028048, -0.5186129525752168], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28937379876677244, 0.26860500169082546, 0.319392885729722, 0.11297552640761882, 0.15041082631084032, 0.12600154592669205, 0.8550091259286058], "count": [1961]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008159102872014046], "std": [0.08995850384235382], "count": [1961]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005099439061703213], "std": [0.0225761791138997], "count": [1961]}, "timestamp": {"min": [0.0], "max": [98.0], "mean": [49.0], "std": [28.30459326681802], "count": [1961]}, "frame_index": {"min": [0], "max": [1960], "mean": [980.0], "std": [566.0918653363605], "count": [1961]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1961]}, "index": {"min": [38474], "max": [40434], "mean": [39454.0], "std": [566.0918653363605], "count": [1961]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1961]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5471116610128524]], [[0.5452197818151429]], [[0.5430774178183674]]], "std": [[[0.23316431896273182]], [[0.22613227087096194]], [[0.23389272125375843]]], "count": [321]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4240845496445816]], [[0.4268704221955101]], [[0.43951549337791485]]], "std": [[[0.294506444684745]], [[0.2926609120346344]], [[0.2882068887373977]]], "count": [321]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4710893083511454]], [[0.47140648312737893]], [[0.48217560573151697]]], "std": [[[0.29579030656989785]], [[0.2957690551248194]], [[0.28913034614532584]]], "count": [321]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2201]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2201]}, "observation.state": {"min": [0.785047889839499, -1.8328665902730505, 0.699996446417662, 0.0, 0.0, -1.0, 6.32309493653338e-08, 0.09650467658125961, -0.5036905698194403, 0.21097376085618902, -0.9993101358413696, -0.7081119418144226, -0.5726348757743835, 7.307760824915022e-05, -0.0007256521270061179, -0.04444595543338056], "max": [0.8812269443124711, -1.36739306858103, 0.7403553855388465, 0.0, 0.0, 1.0, 0.014686750248074532, 0.5425072230786416, 0.3007305915966847, 0.5968854451941388, 0.9991702437400818, 0.7398233413696289, 0.36737117171287537, 0.5960668921470642, 0.04039110477801654, -0.0001346578008703788], "mean": [0.7864449506698347, -1.8262523353311046, 0.7267923325037081, 0.0, 0.0, 0.9936382948729408, 0.0007748724275279848, 0.2941919347152738, -0.2727033514925301, 0.3832799727966763, -0.3471457016083502, 0.28090622129493387, -0.10315894499936394, 0.17716981110804797, 0.033921192572400345, -0.03654026402275334], "std": [0.00961402080012111, 0.051202989049294746, 0.013413433227283353, 0.0, 0.0, 0.11261001046116935, 0.0011995672734424858, 0.10185242681009643, 0.21875522983117393, 0.08494968196932216, 0.7696692927017392, 0.30198659054079435, 0.21895247967846987, 0.16438896443064574, 0.011987238815202401, 0.0073199302636636305], "count": [2201]}, "action": {"min": [-0.5705357142857143, -0.1392857142857143, -0.09714285714285714, 0.0, -1.0, -0.7633928571428571, -0.7071428571428573, -0.9375, -0.30857142857142855, -0.5485714285714286, -0.6085714285714285, -1.0], "max": [0.4928571428571429, 0.8276785714285715, 0.07428571428571429, 0.0, 1.0, 0.61875, 0.9080357142857143, 0.6883928571428571, 0.5171428571428571, 0.6114285714285714, 0.6628571428571428, 1.0], "mean": [0.0013849224378529239, 0.00698302719543065, -1.1683001233205725e-05, 0.0, -0.9336665152203544, 0.009907428441617457, 0.025614980203803525, -0.14555072369702066, 0.0053949503472447485, 0.01495164535600701, 0.003585383267346007, -0.5356656065424807], "std": [0.043979990288489736, 0.07062715560575594, 0.006678267522649788, 0.0, 0.3581436001889018, 0.286080641495823, 0.2844253047250498, 0.3535722820836707, 0.08672326473026744, 0.10390877966321733, 0.11969647640990987, 0.8444301972143522], "count": [2201]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007269422989338636], "std": [0.08495044708251953], "count": [2201]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045433893684688776], "std": [0.021310385096880644], "count": [2201]}, "timestamp": {"min": [0.0], "max": [110.0], "mean": [55.0], "std": [31.768695283250146], "count": [2201]}, "frame_index": {"min": [0], "max": [2200], "mean": [1100.0], "std": [635.3739056650029], "count": [2201]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2201]}, "index": {"min": [40435], "max": [42635], "mean": [41535.0], "std": [635.3739056650029], "count": [2201]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2201]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.416310208358338]], [[0.4122937469451577]], [[0.4119799445657169]]], "std": [[[0.19864471108052598]], [[0.1836670284224008]], [[0.19467903821506288]]], "count": [291]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42566913753561186]], [[0.3972876656787205]], [[0.3883488363288225]]], "std": [[[0.20360906218628858]], [[0.21705853986076898]], [[0.2296856639848524]]], "count": [291]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43814702550321166]], [[0.4056548700074961]], [[0.39338087589944293]]], "std": [[[0.18191654450826505]], [[0.19970379146619]], [[0.21022616227245103]]], "count": [291]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1931]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1931]}, "observation.state": {"min": [7.222499606706181, -4.081879703100798, 0.6999967897905391, 0.0, 0.0, -0.01806783676147461, 0.999836802482605, 0.07825545436642933, -0.1916859973741123, 0.2191643907020563, -0.999245285987854, -0.3417506217956543, -0.15497379004955292, 2.7502203010953963e-05, 0.00039105461306680734, -0.04099336952253633], "max": [7.2760697348511645, -3.5138766135087547, 0.7286919022927903, 0.0, 0.0, -7.506775000365451e-05, 1.0, 0.5053515492039455, 0.41317630653377346, 0.607785489681008, 0.9992404580116272, 0.613981306552887, 0.42566925287246704, 0.3523407578468323, 0.04094302241294819, -0.0005510472531772697], "mean": [7.2666754470952055, -3.9405395168493085, 0.718351938150729, 0.0, 0.0, -0.014873898553802231, 0.9998872712879586, 0.32761490899039347, 0.17826761609252956, 0.3848633951794811, 0.4591470910810177, 0.14942001018543924, 0.08488147008535084, 0.1240737791187697, 0.033689840934926364, -0.03267384686562019], "std": [0.005284608525752711, 0.2407293111016872, 0.010864742829458887, 0.0, 0.0, 0.0020558163369419854, 2.6652598254580768e-05, 0.11712357666064437, 0.20956525559715983, 0.09515090372407875, 0.815056017304537, 0.19807197320478365, 0.15855922647928286, 0.12477417278290104, 0.010479221969631037, 0.012628158214694693], "count": [1931]}, "action": {"min": [-0.5732142857142857, -0.4875000000000001, -0.08571428571428572, 0.0, -1.0, -0.6616071428571428, -0.7339285714285714, -0.8732142857142857, -0.46857142857142864, -0.36, -0.41428571428571437, -1.0], "max": [0.3508928571428571, 0.6964285714285715, 0.0, 0.0, 1.0, 0.5866071428571429, 0.7366071428571429, 0.6267857142857143, 0.34, 0.2285714285714286, 0.4542857142857143, 1.0], "mean": [-0.0002954612709920847, 0.0042030406155211955, -0.0005015905896278759, 0.0, -0.8694976696012429, -0.028694421839165436, 0.009427017829400008, -0.10697085152030783, 0.0019368203003625097, 0.005270400236738918, -0.002093659835762376, -0.45416882444329365], "std": [0.03891988376946128, 0.09637714715595115, 0.005231303713729774, 0.0, 0.49393704311177405, 0.2657970653773844, 0.20030984631520332, 0.26294286106072745, 0.05780637363192004, 0.06278181851513256, 0.0724625937083217, 0.8909156407336267], "count": [1931]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008285862393677235], "std": [0.09064880758523941], "count": [1931]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005178663904712584], "std": [0.022750784708947487], "count": [1931]}, "timestamp": {"min": [0.0], "max": [96.5], "mean": [48.25], "std": [27.87158050775018], "count": [1931]}, "frame_index": {"min": [0], "max": [1930], "mean": [965.0], "std": [557.4316101550037], "count": [1931]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1931]}, "index": {"min": [42636], "max": [44566], "mean": [43601.0], "std": [557.4316101550037], "count": [1931]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1931]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47415262161446897]], [[0.44041334018813333]], [[0.4206133881374378]]], "std": [[[0.2647023361660844]], [[0.261938878445458]], [[0.25891127291966626]]], "count": [335]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.505729546417156]], [[0.4983402422558051]], [[0.48892806636195174]]], "std": [[[0.22171144124228548]], [[0.22247032898911573]], [[0.22035256740967807]]], "count": [335]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5060644933149624]], [[0.4981917682097326]], [[0.4880081429508021]]], "std": [[[0.21781096028735553]], [[0.219112238966189]], [[0.2164481928495974]]], "count": [335]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2331]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2331]}, "observation.state": {"min": [1.9771745030670875, -0.8497824423675451, 0.6999984949595841, 0.0, 0.0, 0.6947184205055237, 0.706817626953125, 0.006769184912073123, -0.42677913575081483, 0.21139574227822777, -0.9962466359138489, -0.5265729427337646, -0.6562289595603943, 3.329119181216811e-06, -8.83703073464861e-06, -0.04130566068510408], "max": [2.4414309374041565, -0.7783760377850446, 0.7280549568823859, 0.0, 0.0, 0.7073957920074463, 0.719281792640686, 0.4786147307308344, 0.3727811509733927, 0.5997768908225529, 0.9919208884239197, 0.7581799626350403, 0.6660186648368835, 0.516912043094635, 0.04003703899175133, -0.0003163500414218911], "mean": [2.1044469679898805, -0.7970434916495919, 0.7223028312730926, 0.0, 0.0, 0.7038242317534782, 0.7103346399307661, 0.2433823817591378, -0.07073233128209985, 0.4044173343870609, -0.3530815864315058, 0.03384333356083437, -0.05232594037155414, 0.13850899037360573, 0.03350709580127024, -0.03400352537963892], "std": [0.20593933420609295, 0.01265269218771819, 0.007558799440689311, 0.0, 0.0, 0.005340757217479958, 0.005251593939010851, 0.11737603761955671, 0.2019635686563295, 0.08397298564972017, 0.8192540117141588, 0.28183773830800796, 0.29702594360518547, 0.11589314442260266, 0.011201411886326658, 0.010651706630450087], "count": [2331]}, "action": {"min": [-0.50625, -0.6776785714285715, -0.08285714285714285, 0.0, -1.0, -0.6241071428571429, -0.5491071428571428, -0.9375, -0.23142857142857146, -0.4542857142857143, -0.31142857142857144, -1.0], "max": [0.4580357142857143, 0.0, 0.017142857142857144, 0.0, 1.0, 0.6160714285714286, 0.6401785714285715, 0.75, 0.3657142857142857, 0.39714285714285713, 0.4714285714285714, 1.0], "mean": [0.0024188729545872407, -0.008911334804191949, -0.0004008089722375436, 0.0, -0.9219219219219219, -0.01749057731200584, 0.028247380033094283, -0.10413793895936774, 0.004228718514432806, 0.00665931237359809, -0.0002316602316602347, -0.44573144573144574], "std": [0.03933066395256076, 0.06502173969078008, 0.005153974423807454, 0.0, 0.38737574766599153, 0.22197842288636832, 0.18320294988212188, 0.30414833468135666, 0.05409470925663271, 0.08215762402592611, 0.09127410949745778, 0.895166732115406], "count": [2331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006864007096737623], "std": [0.08256447315216064], "count": [2331]}, "next.done": {"min": [false], "max": [true], "mean": [0.000429000429000429], "std": [0.020707882258510803], "count": [2331]}, "timestamp": {"min": [0.0], "max": [116.5], "mean": [58.25], "std": [33.645083840981385], "count": [2331]}, "frame_index": {"min": [0], "max": [2330], "mean": [1165.0], "std": [672.9016768196277], "count": [2331]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2331]}, "index": {"min": [44567], "max": [46897], "mean": [45732.0], "std": [672.9016768196277], "count": [2331]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2331]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6185380791643037]], [[0.5882321006149994]], [[0.5680845854494904]]], "std": [[[0.21203164840821273]], [[0.23242131529359286]], [[0.2465258303795684]]], "count": [282]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5925379167858341]], [[0.5885262041724518]], [[0.5858593368477225]]], "std": [[[0.27968654023473155]], [[0.280766823292586]], [[0.28131583048190084]]], "count": [282]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5696493251452011]], [[0.5672003334245932]], [[0.5691203612177848]]], "std": [[[0.2781923022147165]], [[0.27879809270320527]], [[0.2754570542868588]]], "count": [282]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1851]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1851]}, "observation.state": {"min": [4.0057610899942855, -0.8547550719705682, 0.6999969542866112, 0.0, 0.0, 0.6982296109199524, 0.7071066498756409, 0.09624747773833031, -0.5089635627797575, 0.2133001013288417, -0.9999721050262451, -0.5479902029037476, -0.5648687481880188, 3.8242334994720295e-05, 0.0004395450919518455, -0.04452561304038839], "max": [4.557303335247927, -0.7657687358631935, 0.7179080671728302, 0.0, 0.0, 0.7071068286895752, 0.7158739566802979, 0.44180123060256216, 0.3969088781107155, 0.5869862966926631, 0.9999685883522034, 0.6217299103736877, 0.2521669268608093, 0.580746054649353, 0.04099071032662512, 0.00017241563902886767], "mean": [4.014877611174189, -0.7699750051855573, 0.7085558620070358, 0.0, 0.0, 0.6996447003448029, 0.7144897712172205, 0.2542374240049945, -0.29004879814901596, 0.3983329755990817, -0.4382333380347777, 0.0893297984927937, -0.13344772944405414, 0.1309932025169154, 0.03674782836791843, -0.036979971629192546], "std": [0.06234669126203926, 0.01175788031203028, 0.0060887541236587855, 0.0, 0.0, 0.0009158283234736584, 0.0009054014414033859, 0.08535194351905254, 0.25571688591621305, 0.0880292822314193, 0.7886033587708173, 0.2744116576046901, 0.20679977834379884, 0.15824363685669618, 0.009392545428375136, 0.008371098844591314], "count": [1851]}, "action": {"min": [-0.36428571428571427, -0.15267857142857144, -0.08857142857142856, 0.0, -1.0, -0.7553571428571428, -0.8892857142857145, -0.9321428571428573, -0.2485714285714286, -0.37714285714285717, -0.40857142857142864, -1.0], "max": [0.6428571428571429, 0.7767857142857144, 0.04857142857142857, 0.0, 1.0, 0.594642857142857, 0.9321428571428573, 0.7687499999999999, 0.30285714285714294, 0.41714285714285715, 0.6085714285714285, 1.0], "mean": [0.002844987265570735, 0.009837346608011114, -0.00028092922744462446, 0.0, -0.9297676931388439, -0.004766728409354, -0.005386084741838448, -0.08416300069460533, 0.0010156672069151869, 0.010006946052326902, 0.00020066373388901514, -0.5537547271745002], "std": [0.04920752865454634, 0.08211281503685557, 0.0050506447592346924, 0.0, 0.36814675985981404, 0.26395054393548073, 0.31103701837198106, 0.2924105534818054, 0.07034376018788314, 0.0937565571931618, 0.10018567025068326, 0.8326798317071741], "count": [1851]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008643976412713528], "std": [0.09257028996944427], "count": [1851]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005402485143165856], "std": [0.023236967225939025], "count": [1851]}, "timestamp": {"min": [0.0], "max": [92.5], "mean": [46.25], "std": [26.71687980784183], "count": [1851]}, "frame_index": {"min": [0], "max": [1850], "mean": [925.0], "std": [534.3375961568366], "count": [1851]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1851]}, "index": {"min": [46898], "max": [48748], "mean": [47823.0], "std": [534.3375961568366], "count": [1851]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1851]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46766484875117637]], [[0.43796630566495126]], [[0.41927023747427505]]], "std": [[[0.2753760632637607]], [[0.26781066264273234]], [[0.2705218507278537]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533956986439379]], [[0.523843345664182]], [[0.5129863341037892]]], "std": [[[0.24184114674637208]], [[0.23896919750787057]], [[0.23776688722633704]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5924807750114567]], [[0.5802275465056885]], [[0.5680225320871113]]], "std": [[[0.22845880273642857]], [[0.22848399809807235]], [[0.22951323477079957]]], "count": [237]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1472]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1472]}, "observation.state": {"min": [1.3719957640924885, -0.9583954070839084, 0.699771291462353, 0.0, 0.0, 0.6953940987586975, 0.705975353717804, 0.06646934786887337, -0.5398214302144337, 0.2321785332109183, -0.9911583065986633, -0.9989515542984009, -0.4056223928928375, 0.00028832099633291364, 0.009862691279067625, -0.041482993800666515], "max": [1.7231524084361178, -0.8651076015972482, 0.7045807859085628, 0.0, 0.0, 0.7082364559173584, 0.7186285853385925, 0.5605244018348948, 0.3831158064702078, 0.6335688434273764, 0.9920461177825928, 0.9989740252494812, 0.8185567855834961, 0.6856400370597839, 0.05378366995366008, 0.0006441791927763584], "mean": [1.4811113032486627, -0.9246963993993479, 0.7012124892035574, 0.0, 0.0, 0.701539820910472, 0.7126070036269401, 0.3131819492965983, 0.00631859414622927, 0.411230861512296, 0.07544097944019482, 0.5744662297808606, 0.03473877816897742, 0.16692059247199484, 0.03693133460464987, -0.03579064664078052], "std": [0.15694900968199668, 0.03786738748107202, 0.0014168062961341886, 0.0, 0.0, 0.0040991596606732164, 0.0040417974059250615, 0.11192350485254955, 0.23165152182079013, 0.0877899080025872, 0.37377497017097205, 0.6462777657268891, 0.23799301136441664, 0.14561792654906938, 0.00700014121904325, 0.009610568314954757], "count": [1472]}, "action": {"min": [0.0, -0.7857142857142857, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.8114285714285715, -0.6771428571428572, -0.6057142857142859, -1.0], "max": [0.5714285714285715, 0.0, 0.0, 0.0, 1.0, 0.8857142857142857, 1.0, 1.0, 0.4, 0.8171428571428573, 0.5657142857142857, 1.0], "mean": [0.006929347826086956, -0.008389945652173915, 0.0, 0.0, -0.9347826086956522, 0.004561335403726704, -0.018298718944099443, 0.1097001164596274, -0.015836568322981342, 0.01067158385093166, 0.05287267080745354, -0.5258152173913043], "std": [0.056367472223464755, 0.07073374438073106, 0.0, 0.0, 0.35522031822539374, 0.4140306179552778, 0.3245326723303039, 0.46020891099366174, 0.12301393161638281, 0.18346676136122664, 0.18122993045147545, 0.8505988226888892], "count": [1472]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010869565419852734], "std": [0.103689044713974], "count": [1472]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006793478260869565], "std": [0.026055446889626504], "count": [1472]}, "timestamp": {"min": [0.0], "max": [73.55], "mean": [36.775], "std": [21.246485003407038], "count": [1472]}, "frame_index": {"min": [0], "max": [1471], "mean": [735.5], "std": [424.9297000681407], "count": [1472]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1472]}, "index": {"min": [48749], "max": [50220], "mean": [49484.5], "std": [424.9297000681407], "count": [1472]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1472]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47687283174613]], [[0.46331731830101835]], [[0.45533099698838875]]], "std": [[[0.20096715226954728]], [[0.18973423302078535]], [[0.18871025325121793]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4477653029423408]], [[0.4321736033343125]], [[0.4277488293682357]]], "std": [[[0.19795600246347667]], [[0.20892766354893758]], [[0.21425713945759886]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4414041115995677]], [[0.4169658614585157]], [[0.4084849215064131]]], "std": [[[0.20665762498292112]], [[0.22457230312684245]], [[0.2324322322418144]]], "count": [273]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1771]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1771]}, "observation.state": {"min": [4.193444937496199, -0.7935836754419948, 0.6999978396527785, 0.0, 0.0, 0.7069224715232849, 0.7047611474990845, 0.13286398470629046, -0.4272731515777446, 0.2306446940638679, -0.9980489015579224, -0.44451266527175903, -0.612522542476654, 1.6249923646682873e-05, 0.008896899873454007, -0.040831053911216456], "max": [4.462652020420234, -0.7925524066893757, 0.7120817131254622, 0.0, 0.0, 0.7094447016716003, 0.7072910070419312, 0.518877713414887, 0.46483741225258024, 0.6220648451186467, 0.9993042945861816, 0.5512629151344299, 0.6168982982635498, 0.4258485734462738, 0.04060130417306879, -0.010353524046229851], "mean": [4.198351415154641, -0.7926118751830414, 0.7069804760015669, 0.0, 0.0, 0.7082715572306559, 0.7059400565270176, 0.320547696619448, -0.18737272084613027, 0.4133021223500598, -0.14940153273534532, 0.04891883677165095, -0.03276502756512626, 0.09121537680612919, 0.035768257051085585, -0.03590583699411751], "std": [0.03354685843783922, 0.00010781832561708758, 0.004313232245493054, 0.0, 0.0, 0.0001704772311550135, 0.00017093073382143685, 0.0907977752184477, 0.2369333559272633, 0.09704003804770057, 0.9209531587066399, 0.20545489809806577, 0.25869557055585446, 0.09274968400024383, 0.008685379363916168, 0.008559823084578156], "count": [1771]}, "action": {"min": [-0.10714285714285715, 0.0, -0.02, 0.0, -1.0, -0.7232142857142858, -0.6776785714285715, -0.7526785714285714, -0.7057142857142857, -0.5628571428571428, -0.4257142857142857, -1.0], "max": [0.11517857142857144, 0.6348214285714286, 0.06857142857142857, 0.0, 1.0, 0.5035714285714286, 0.6803571428571429, 0.8303571428571429, 0.26, 0.3171428571428571, 0.66, 1.0], "mean": [0.00016485843349197402, 0.007105549729773332, 5.3238686779059445e-05, 0.0, -0.9333709768492378, -0.012945168185851409, -0.022594680164555958, -0.046909030410583245, -0.007461482616762114, -0.0046785512624021915, -0.00021940792127127787, -0.6679841897233202], "std": [0.008684880810145984, 0.056966820921328744, 0.0025551320453451173, 0.0, 0.3589131086704855, 0.25029932690353796, 0.24244512744912725, 0.2291045350498247, 0.07624698949085917, 0.10767111355370185, 0.108278295566926, 0.7441754647122384], "count": [1771]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009034443646669388], "std": [0.09461936354637146], "count": [1771]}, "next.done": {"min": [false], "max": [true], "mean": [0.000564652738565782], "std": [0.023755713120228828], "count": [1771]}, "timestamp": {"min": [0.0], "max": [88.5], "mean": [44.25], "std": [25.56217909334022], "count": [1771]}, "frame_index": {"min": [0], "max": [1770], "mean": [885.0], "std": [511.24358186680445], "count": [1771]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1771]}, "index": {"min": [50221], "max": [51991], "mean": [51106.0], "std": [511.24358186680445], "count": [1771]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1771]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3633046403408809]], [[0.34750644580737966]], [[0.33177824722880334]]], "std": [[[0.24318502949869872]], [[0.2345062424119701]], [[0.2333692091275023]]], "count": [296]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37698063145381283]], [[0.3694882435841603]], [[0.3539364164319061]]], "std": [[[0.21967856214791662]], [[0.21251894998500032]], [[0.20701299377251675]]], "count": [296]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39858781504264634]], [[0.38952541442288885]], [[0.37162635411038625]]], "std": [[[0.23224049748773304]], [[0.22626985667156907]], [[0.2230867233122511]]], "count": [296]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1973]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1973]}, "observation.state": {"min": [5.347733933482806, -3.924537589924649, 0.6999978359520288, 0.0, 0.0, -0.7388414740562439, 0.6738793253898621, 0.039046317520345486, -0.3491464377150404, 0.22001769280672567, -0.9980493783950806, -0.2858980596065521, -0.594160258769989, 4.544085459201597e-05, 0.006129114027060891, -0.043691684547958964], "max": [5.924419100570426, -3.82400944207996, 0.7231098045972718, 0.0, 0.0, -0.7071034908294678, 0.7071100473403931, 0.45303524511957427, 0.4408284650546346, 0.6196143156283954, 0.992975115776062, 0.655390202999115, 0.1793650984764099, 0.4135459065437317, 0.04122571346554356, -0.015523837796156122], "mean": [5.768471325634358, -3.9098732098825266, 0.7123489540748249, 0.0, 0.0, -0.7101223018044938, 0.7040638057821847, 0.2292661346852825, -0.13437710780196727, 0.4324387393973818, -0.8201560900106203, 0.13170516426362064, -0.18207378389491538, 0.1245881246728515, 0.03647414044348541, -0.03600281384768822], "std": [0.2515040747281312, 0.016709874392095057, 0.007846059085257127, 0.0, 0.0, 0.003142915734419791, 0.0032552234346314704, 0.0970327439836635, 0.2197933397270024, 0.08150635415894082, 0.4049408946948173, 0.23743070070386468, 0.17569982175010238, 0.10051755361401186, 0.006904780190261454, 0.007918674991908937], "count": [1973]}, "action": {"min": [-0.5651785714285715, -0.7687499999999999, -0.15428571428571428, 0.0, -1.0, -0.8089285714285713, -0.6642857142857143, -0.9375, -0.41714285714285715, -0.6457142857142857, -0.6171428571428571, -1.0], "max": [0.4928571428571429, 0.7205357142857144, 0.21142857142857144, 0.0, 1.0, 0.54375, 0.8839285714285714, 0.6053571428571428, 0.39714285714285713, 0.2885714285714286, 0.5685714285714286, 1.0], "mean": [0.003975092317717761, -0.0033193649989139112, -0.0002563174281369919, 0.0, -0.8459199189052204, -0.04250416334805585, 0.0011471834045326539, -0.0940989066685974, 0.0030917384693360463, 0.0009977554123524787, 0.0038621388748099317, -0.6644703497212366], "std": [0.06226273894950574, 0.10552707902180103, 0.017107718813151717, 0.0, 0.5333099387780084, 0.26989960829312776, 0.23033746531821297, 0.3109296007264768, 0.06902993650979411, 0.08588028217815705, 0.11288772589830276, 0.7473146287483807], "count": [1973]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008109478279948235], "std": [0.08968675136566162], "count": [1973]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005068423720223011], "std": [0.022507453939355822], "count": [1973]}, "timestamp": {"min": [0.0], "max": [98.6], "mean": [49.3], "std": [28.477798369958304], "count": [1973]}, "frame_index": {"min": [0], "max": [1972], "mean": [986.0], "std": [569.5559673991661], "count": [1973]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1973]}, "index": {"min": [51992], "max": [53964], "mean": [52978.0], "std": [569.5559673991661], "count": [1973]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1973]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.521621685098831]], [[0.5139879268126697]], [[0.5140505056376171]]], "std": [[[0.2616426493846327]], [[0.2623866938280506]], [[0.26069611124008446]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5789318697251652]], [[0.506468152570295]], [[0.4613687795245843]]], "std": [[[0.20482718508850378]], [[0.24505628404001625]], [[0.28131188655916817]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5810641007254094]], [[0.500481382449847]], [[0.4500485062915052]]], "std": [[[0.20153132079509742]], [[0.2453675077215819]], [[0.283528672275401]]], "count": [148]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [785]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [785]}, "observation.state": {"min": [5.707240899339511, -0.864436199179103, 0.6999987373137642, 0.0, 0.0, 0.694726288318634, 0.7066398859024048, 0.14889748889419796, -0.38479897213945513, 0.2355821265882313, -0.9897144436836243, -0.9999709725379944, -0.2408798635005951, 0.00037272038753144443, 0.001768647242275608, -0.040393617758071175], "max": [6.121975860353269, -0.7947821429628472, 0.7091958821233607, 0.0, 0.0, 0.7075734734535217, 0.7192742824554443, 0.5468782368442207, 0.4095915401429506, 0.6035720361004014, 0.9899911880493164, 0.9986911416053772, 0.3461538851261139, 0.5297223925590515, 0.0404300292254965, -0.0035118672156208364], "mean": [5.993419194558275, -0.8290674108213396, 0.7049469869801025, 0.0, 0.0, 0.7031650483987893, 0.7109918096262938, 0.33674686943107607, 0.053182695686565605, 0.4067245696941772, 0.13393076452396768, 0.7942437463505253, 0.03253045576049169, 0.22761654964404235, 0.03340739179568996, -0.0341226872430696], "std": [0.18842248133273154, 0.02007978153885848, 0.0034446757648557316, 0.0, 0.0, 0.005020874505566496, 0.004934615557947551, 0.1044783793385854, 0.20068286862780105, 0.08788043709291939, 0.3183620012050549, 0.40227366445438606, 0.08635556097547147, 0.16654171554444336, 0.009693850882792888, 0.01011241024654006], "count": [785]}, "action": {"min": [-0.4714285714285715, 0.0, -0.05714285714285715, 0.0, -1.0, -1.0, -1.0, -0.9357142857142857, -0.5942857142857143, -0.32571428571428573, -0.17714285714285713, -1.0], "max": [0.55, 1.0, 0.025714285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.20857142857142857, 0.8857142857142857, 0.6257142857142857, 1.0], "mean": [0.006924476797088262, 0.023703366696997272, -0.0010409463148316656, 0.0, -0.9006369426751593, 0.014877161055505012, 0.0076160145586897455, -0.03718835304822561, -0.03954504094631486, 0.02702092811646949, 0.02644949954504092, -0.5414012738853503], "std": [0.06377527930138777, 0.1176518553378932, 0.006497548277341432, 0.0, 0.43457231560321763, 0.48358815947406775, 0.44930182239829286, 0.38571787213586256, 0.09994425044414927, 0.1561850143057649, 0.11704849926576716, 0.8407643312101929], "count": [785]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020382165908813477], "std": [0.14130368828773499], "count": [785]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012738853503184713], "std": [0.035668789808917196], "count": [785]}, "timestamp": {"min": [0.0], "max": [39.2], "mean": [19.6], "std": [11.330489839367052], "count": [785]}, "frame_index": {"min": [0], "max": [784], "mean": [392.0], "std": [226.60979678734103], "count": [785]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [785]}, "index": {"min": [53965], "max": [54749], "mean": [54357.0], "std": [226.60979678734103], "count": [785]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [785]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4600303834947597]], [[0.44659197434828674]], [[0.4255387590427999]]], "std": [[[0.26957406064419465]], [[0.2633985481246105]], [[0.2560184849784114]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.59391066408791]], [[0.5924372841507383]], [[0.5280462129775636]]], "std": [[[0.16006024484851966]], [[0.14473567241587446]], [[0.15956158186350491]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5593820453321564]], [[0.5879352403322944]], [[0.5088164698998954]]], "std": [[[0.16706901251845402]], [[0.13956648203670685]], [[0.1570390065798753]]], "count": [211]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1262]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1262]}, "observation.state": {"min": [4.897673507669042, -6.589955885241256, 0.6999960332998503, 0.0, 0.0, -5.060465991846286e-05, 1.0, -0.010376242799222446, -0.26479964048399385, 0.2244863241370143, -0.9889430999755859, -0.9713189005851746, -0.29237568378448486, 0.0004222292627673596, 0.006309095509745398, -0.04111863146998905], "max": [4.900771020030984, -6.589694890462608, 0.7160469312588666, 0.0, 0.0, 0.0003274983318988234, 1.0, 0.42314421709702543, 0.5539686733850271, 0.7958840816206302, 0.9893379807472229, 0.9993299245834351, 0.40345218777656555, 0.8719442486763, 0.04110361759019544, 0.0007483175321565897], "mean": [4.900683085659322, -6.5897997877874355, 0.7094473498538865, 0.0, 0.0, 0.0001501512494059979, 1.0, 0.2461237336364077, 0.12115593045219655, 0.41558947124680584, 0.12201302536085376, 0.663107977675277, 0.033536604957605444, 0.31094094798783495, 0.03719943277194649, -0.035051540675146785], "std": [0.00011988915520800448, 2.3442244893618524e-05, 0.005210389673855545, 0.0, 0.0, 3.543156848856425e-05, 0.0, 0.09694465004236272, 0.16968336614052623, 0.1108862259327153, 0.32895829199076326, 0.5185395010288567, 0.15743003722315316, 0.21380052520366458, 0.005725713219072329, 0.009056655175820157], "count": [1262]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.46857142857142864, -0.3314285714285714, -0.4714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8928571428571429, 1.0, 1.0, 0.29714285714285715, 0.8171428571428573, 0.56, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04621915327145123, 0.033993660855784466, 0.0951437627348879, -0.004340049807561698, 0.08729680778809147, 0.03972605841068602, -0.6561014263074485], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3813585944166088, 0.34052430939636463, 0.4490728195189017, 0.10740622806479638, 0.2070922054967459, 0.1152531331567174, 0.754672722706556], "count": [1262]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012678288854658604], "std": [0.11188185960054398], "count": [1262]}, "next.done": {"min": [false], "max": [true], "mean": [0.000792393026941363], "std": [0.02813832156032441], "count": [1262]}, "timestamp": {"min": [0.0], "max": [63.05], "mean": [31.525000000000002], "std": [18.215395274327705], "count": [1262]}, "frame_index": {"min": [0], "max": [1261], "mean": [630.5], "std": [364.30790548655403], "count": [1262]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1262]}, "index": {"min": [54750], "max": [56011], "mean": [55380.5], "std": [364.30790548655403], "count": [1262]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1262]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4865756435776378]], [[0.4671935155942383]], [[0.45001383411696133]]], "std": [[[0.23736992417737268]], [[0.237849358736596]], [[0.2438544033800283]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6164473989371526]], [[0.545264466191803]], [[0.5273583706569341]]], "std": [[[0.23642622026993984]], [[0.27394114965655547]], [[0.29454693033868584]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6238557342596264]], [[0.5380150704860788]], [[0.5181823516605917]]], "std": [[[0.25616482919033595]], [[0.297739077861602]], [[0.3193162347205478]]], "count": [277]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1807]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1807]}, "observation.state": {"min": [0.8100459399307527, -1.5945169331069418, 0.6999962916837773, 0.0, 0.0, -1.0, 9.502448961029586e-08, -0.0029811959716151692, -0.4809613773982855, 0.22893423591681228, -0.997604250907898, -0.7090085744857788, -0.6500251889228821, 0.0004336714919190854, -0.00136285223523522, -0.04517454841273757], "max": [0.917004098228513, -1.0847698774614893, 0.7195855229852475, 0.0, 0.0, 1.0, 0.01004805788397789, 0.5579927615718102, 0.15257433278352117, 0.6061696659947343, 0.997134268283844, 0.6493291854858398, 0.5606744885444641, 0.6550310254096985, 0.04115647193542591, 4.62695692857641e-05], "mean": [0.8363034736355758, -1.4566506403108321, 0.7122626619703607, 0.0, 0.0, -0.46317571279550035, 0.008530061268819441, 0.27239476311363325, -0.24488686910159443, 0.40099432751785835, -0.6433020308819936, 0.11251324640332366, -0.18223105779716342, 0.1619191829701062, 0.03244902670246018, -0.03409291847622379], "std": [0.01593943430788959, 0.2222477863229314, 0.005954348628896323, 0.0, 0.0, 0.8862244802184464, 0.0013173629747104522, 0.11453779312471382, 0.20229121325557356, 0.08486752223855193, 0.5868454775886757, 0.316637026311471, 0.21694591790919762, 0.14954975946666882, 0.012585918197016968, 0.011618823237105452], "count": [1807]}, "action": {"min": [-0.8642857142857142, -1.0, -0.12285714285714287, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4028571428571428, -0.38, -0.5628571428571428, -1.0], "max": [0.8714285714285716, 0.95, 0.08857142857142856, 0.0, 1.0, 1.0, 1.0, 1.0, 0.35428571428571426, 0.68, 0.4742857142857143, 1.0], "mean": [0.0051071230927346055, -0.002557514428018023, -0.00036840856984741885, 0.0, -0.8693967902600996, 0.0067515218594355435, 0.02828286821092576, -0.052826310380267326, 0.02066882757530242, 0.03494979840303578, -0.0007115186971302093, -0.5329275041505257], "std": [0.0858328270171334, 0.10427992292899149, 0.006692652581228716, 0.0, 0.4941145829515931, 0.3960379990624676, 0.2924123976565888, 0.36433008796300076, 0.08136042103009908, 0.13704832400239284, 0.11681790253253661, 0.8461609039183465], "count": [1807]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008854455314576626], "std": [0.09368059039115906], "count": [1807]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005534034311012728], "std": [0.023518018108329583], "count": [1807]}, "timestamp": {"min": [0.0], "max": [90.3], "mean": [45.15], "std": [26.081794416795788], "count": [1807]}, "frame_index": {"min": [0], "max": [1806], "mean": [903.0], "std": [521.6358883359158], "count": [1807]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1807]}, "index": {"min": [56012], "max": [57818], "mean": [56915.0], "std": [521.6358883359158], "count": [1807]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1807]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5015989920741764]], [[0.48300373370189154]], [[0.47069883910323107]]], "std": [[[0.2574557259244167]], [[0.25700286950152823]], [[0.2582839601691096]]], "count": [269]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4942310023215693]], [[0.40144730376140636]], [[0.3311171194043588]]], "std": [[[0.212118841999232]], [[0.24759361022207807]], [[0.2825270586934203]]], "count": [269]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48372383087089244]], [[0.38931097968673123]], [[0.3159726054251859]]], "std": [[[0.2032497316143564]], [[0.23304150230913373]], [[0.26367560259905626]]], "count": [269]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1737]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1737]}, "observation.state": {"min": [0.8449551142916367, -3.9152904651647455, 0.6999935436686194, 0.0, 0.0, -1.0, 3.087753384534153e-06, -0.04549634244610301, -0.4019654846653564, 0.20530379621324046, -0.9990783929824829, -0.5480683445930481, -0.5428317189216614, 0.00011184858885826543, 0.0004977452991423502, -0.040606593390434625], "max": [0.8464472763979857, -3.4984864942520133, 0.732780999024916, 0.0, 0.0, 1.0, 0.0005979357520118356, 0.49641948422930043, 0.5326231378589759, 0.587209834990863, 0.9985401034355164, 0.7889893054962158, 0.5435601472854614, 0.5633668899536133, 0.04104435046000716, 0.0003048861599419922], "mean": [0.8461016206376181, -3.5053766295165185, 0.7202745740167877, 0.0, 0.0, 0.9608520435477099, 0.00013001069576380132, 0.28656533581110977, 0.29529927201219336, 0.40924139983433383, -0.31715929147904814, 0.14521196374758674, -0.021748344213510105, 0.10794568593657551, 0.03463765641570109, -0.030678238123725433], "std": [0.00012718021907334615, 0.048563789538285655, 0.010669531354438641, 0.0, 0.0, 0.2770619902290523, 6.621802826326981e-05, 0.11725102782690451, 0.28221847141262835, 0.10040813833883544, 0.857326950756719, 0.2392306388930641, 0.24093740135154446, 0.1261212899589529, 0.01080398306753737, 0.014416341044322253], "count": [1737]}, "action": {"min": [-0.11428571428571428, -0.807142857142857, -0.005714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.35428571428571426, -0.39714285714285713, -0.5571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.30285714285714294, 0.35714285714285715, 0.3342857142857143, 1.0], "mean": [-0.0005880417797516244, -0.007969405378731803, -3.2897442223867092e-06, 0.0, -0.9412780656303973, -0.024076815527592707, 0.06654330125832732, -0.1437001398141295, 0.0005164898429147114, 0.011936836910930183, 0.0015017682375195397, -0.41738629821531376], "std": [0.006609380345839073, 0.07362798144017128, 0.00013706828953695513, 0.0, 0.3376323491063921, 0.38138850692062515, 0.3712181374931488, 0.44218444985640315, 0.0753737136172655, 0.09385995308253076, 0.09705944348784491, 0.9087291555035263], "count": [1737]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00921128410845995], "std": [0.0955323800444603], "count": [1737]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005757052389176742], "std": [0.023986950668969095], "count": [1737]}, "timestamp": {"min": [0.0], "max": [86.8], "mean": [43.4], "std": [25.07143128476447], "count": [1737]}, "frame_index": {"min": [0], "max": [1736], "mean": [868.0], "std": [501.42862569528944], "count": [1737]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1737]}, "index": {"min": [57819], "max": [59555], "mean": [58687.0], "std": [501.42862569528944], "count": [1737]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1737]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5726450510824003]], [[0.5477711242566985]], [[0.5355404566256545]]], "std": [[[0.2439374183266831]], [[0.2510781614588835]], [[0.2635861756407195]]], "count": [275]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5827015711602468]], [[0.5026690473641516]], [[0.4526404204615085]]], "std": [[[0.20162762113940008]], [[0.24714043616319026]], [[0.2864231357451071]]], "count": [275]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5813756016477969]], [[0.5033744331672655]], [[0.4544343659916026]]], "std": [[[0.2043227254357821]], [[0.24851288279392317]], [[0.28691216442394796]]], "count": [275]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1791]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1791]}, "observation.state": {"min": [5.511431113426848, -3.9317224785016864, 0.6999985211137085, 0.0, 0.0, -0.7123399376869202, 0.7018346190452576, 0.04567626265668645, -0.46755293805719766, 0.22538609309247437, -0.9997177720069885, -0.2214488387107849, -0.5663370490074158, 2.5402745450264774e-05, 7.647400900140737e-05, -0.04071374130386215], "max": [6.2615984973568075, -3.8340496963476416, 0.7113019274526161, 0.0, 0.0, -0.7071067094802856, 0.7071068286895752, 0.41858384967966034, 0.40755673236587064, 0.5940249981283008, 0.9993334412574768, 0.6664615273475647, 0.3678577244281769, 0.4063184857368469, 0.04057284996214676, -0.000732223642184467], "mean": [5.995111735539328, -3.9242238665505043, 0.7069770089459945, 0.0, 0.0, -0.7100000482641207, 0.7042004456738398, 0.22672718829269684, -0.12264886029882739, 0.4161446365874495, -0.40628495917248364, 0.20039368123086487, -0.08055312353187967, 0.10422324316011003, 0.035413626166881707, -0.036726697741724164], "std": [0.3530470312208948, 0.016796033709368344, 0.0038746283863921684, 0.0, 0.0, 0.0009123933083825018, 0.0009193223740742381, 0.09102167636303465, 0.3015386005046757, 0.08929317655169326, 0.8032004953394398, 0.25866726087751424, 0.2353977869352616, 0.09985843455139727, 0.008124034741702821, 0.00568169069647068], "count": [1791]}, "action": {"min": [-0.6455357142857143, -0.8142857142857143, -0.07142857142857142, 0.0, -1.0, -0.7392857142857142, -0.7794642857142858, -0.7205357142857144, -0.4714285714285714, -0.34, -0.5942857142857143, -1.0], "max": [0.5892857142857143, 0.6857142857142857, 0.0, 0.0, 1.0, 0.47678571428571426, 0.9214285714285715, 0.7312500000000001, 0.41428571428571437, 0.3457142857142857, 0.6828571428571428, 1.0], "mean": [0.004911462072266092, -0.00532573582196698, -0.00024407753050969126, 0.0, -0.8380792853154663, -0.009813950705910488, 0.014553421871261078, -0.035771117492223024, 0.0018377602297200309, 0.0022589136156975346, 0.004820930047060708, -0.503070910106086], "std": [0.07390353954774546, 0.11840942763988374, 0.0031980760065107704, 0.0, 0.5455484502086982, 0.23550336357218124, 0.28058494261933725, 0.21683031541565365, 0.07916164766326796, 0.07314736623193176, 0.13551348733953614, 0.8642451384908274], "count": [1791]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008933556266129017], "std": [0.09409436583518982], "count": [1791]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005583472920156337], "std": [0.02362277588085559], "count": [1791]}, "timestamp": {"min": [0.0], "max": [89.5], "mean": [44.75], "std": [25.850854273440685], "count": [1791]}, "frame_index": {"min": [0], "max": [1790], "mean": [895.0], "std": [517.0170854688138], "count": [1791]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1791]}, "index": {"min": [59556], "max": [61346], "mean": [60451.0], "std": [517.0170854688138], "count": [1791]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1791]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41345142201846014]], [[0.40888811535899083]], [[0.4032335956572299]]], "std": [[[0.26743228265680946]], [[0.23540616180741833]], [[0.23409351593464947]]], "count": [315]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47110838191070703]], [[0.38194323627888654]], [[0.32736815684390075]]], "std": [[[0.2372918177882368]], [[0.21964505419259717]], [[0.2290212989988879]]], "count": [315]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5181023491753471]], [[0.40650791371235995]], [[0.33713431526039234]]], "std": [[[0.21401508436202105]], [[0.21972921184379168]], [[0.23979637162200623]]], "count": [315]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2144]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2144]}, "observation.state": {"min": [2.955738739289146, -0.8220240835925913, 0.6999983001165119, 0.0, 0.0, 0.6939258575439453, 0.7071065902709961, 0.1241571566155143, -0.41667437973099375, 0.21553926496158082, -0.998955249786377, -0.7223037481307983, -0.6953431367874146, 1.1782815818150993e-05, 0.0005376922908247593, -0.040705364707420234], "max": [3.2941254219261817, -0.8198930339847912, 0.732412477594167, 0.0, 0.0, 0.70710688829422, 0.7200464606285095, 0.5564941364248223, 0.3031108419245925, 0.5966258976535412, 0.998087465763092, 0.7264414429664612, 0.2636398375034332, 0.5139262676239014, 0.040603900877438356, 1.1854182241691617e-05], "mean": [2.96102896764356, -0.8199575015154681, 0.7199056572199704, 0.0, 0.0, 0.6943102986065309, 0.7196723933039761, 0.32458750319643653, -0.22809371517735594, 0.4009255944466329, -0.5492472960544166, 0.17912420849906585, -0.16181130032376798, 0.13242865267398357, 0.02904773329845021, -0.03218155711233951], "std": [0.037811480918726596, 0.00018152318671641317, 0.01043607236520588, 0.0, 0.0, 0.0015730296647906462, 0.001543674507614758, 0.10647172740609218, 0.20773833606778688, 0.0993386749120407, 0.6909749088178169, 0.2877877632293189, 0.20692242841837222, 0.13941544302364156, 0.014374548182729026, 0.012067468033111754], "count": [2144]}, "action": {"min": [-0.24107142857142855, 0.0, -0.12, 0.0, -1.0, -0.8330357142857143, -0.6321428571428571, -0.9375, -0.29428571428571426, -0.39714285714285713, -0.3457142857142857, -1.0], "max": [0.14196428571428574, 0.7098214285714286, 0.0, 0.0, 1.0, 0.5812499999999999, 0.8973214285714287, 0.6428571428571429, 0.5314285714285715, 0.4742857142857143, 0.4742857142857143, 1.0], "mean": [0.00015616671108742013, 0.007016257995735608, -0.0004677505330490405, 0.0, -0.9356343283582089, -0.010668060367803841, 0.009728561433901928, -0.12450984474946696, 0.006487206823027734, 0.006701759061833699, -0.003587420042643912, -0.31343283582089554], "std": [0.015088738288979631, 0.05945259240050037, 0.006379681675789248, 0.0, 0.3529708254200003, 0.2670669002550764, 0.24907937819384818, 0.34612114339814193, 0.07106220266202339, 0.10028817180127288, 0.09386061720234178, 0.949610371378346], "count": [2144]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007462686393409967], "std": [0.08606389909982681], "count": [2144]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004664179104477612], "std": [0.02159167350578863], "count": [2144]}, "timestamp": {"min": [0.0], "max": [107.15], "mean": [53.575], "std": [30.94597106248243], "count": [2144]}, "frame_index": {"min": [0], "max": [2143], "mean": [1071.5], "std": [618.9194212496486], "count": [2144]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [2144]}, "index": {"min": [61347], "max": [63490], "mean": [62418.5], "std": [618.9194212496486], "count": [2144]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2144]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4810048712329632]], [[0.444595499609789]], [[0.4100576428047993]]], "std": [[[0.2536317291894437]], [[0.24215024367213495]], [[0.23706075179227395]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5342369842124983]], [[0.5234094590842566]], [[0.5088737422294192]]], "std": [[[0.2275069438378238]], [[0.22820405949265743]], [[0.22482078276476997]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5182144506279602]], [[0.5092861532545873]], [[0.49743191879264376]]], "std": [[[0.23232521539088247]], [[0.2331312798964215]], [[0.23083711236645169]]], "count": [185]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1059]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1059]}, "observation.state": {"min": [4.87235347727551, -6.570348265324033, 0.6999972697504016, 0.0, 0.0, -0.0035923870746046305, 0.9999935626983643, -0.06834588797976959, -0.44490508221575986, 0.23026830894804107, -0.99128258228302, -0.9901907444000244, -0.5840979814529419, 0.00018745959096122533, 0.0008613171327809328, -0.04204556305800581], "max": [4.902515472593807, -6.145386908603332, 0.7075145937348886, 0.0, 0.0, 0.00015223558875732124, 1.0, 0.4734904802130453, 0.4364247012570681, 0.746232097351386, 0.9952833652496338, 0.9919704794883728, 0.6020035743713379, 0.7885276675224304, 0.04104706957701023, -0.0010823719717589463], "mean": [4.901110020820562, -6.155078830553648, 0.7046167012652732, 0.0, 0.0, -0.002883154856624332, 0.9999957210731687, 0.25758270093018926, -0.1779596027771207, 0.43243390532788334, -0.015267967038046537, 0.309758005218758, -0.04249028917472659, 0.1826601149394082, 0.03316826863365289, -0.034177265945391735], "std": [0.0058260366497549666, 0.05587193743317385, 0.002354621589385692, 0.0, 0.0, 0.0005553378892212013, 9.303561471322729e-07, 0.11558137199343194, 0.24546123505480072, 0.10536621768873469, 0.7171455353644497, 0.514696377024479, 0.21562024651624706, 0.20723066420102293, 0.01082608240211915, 0.009399483139234137], "count": [1059]}, "action": {"min": [-0.3, 0.0, -0.025714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5085714285714286, -0.6142857142857143, -0.5371428571428571, -1.0], "max": [0.3857142857142857, 0.7214285714285715, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6542857142857142, 0.5771428571428572, 0.5314285714285715, 1.0], "mean": [0.00015513287467961665, 0.01721300418184271, -0.00015917981923647647, 0.0, -0.8772426817752597, -0.003122892216376633, -0.040860650209092186, -0.0279913665182787, -0.009855658977471985, -0.0009766626197221097, 0.023162012680426284, -0.5033050047214354], "std": [0.04062519716037115, 0.09243257592635229, 0.001706337382686843, 0.0, 0.48004716150787063, 0.46518697476968385, 0.48152775465215936, 0.45259295990211396, 0.16288229935358725, 0.13445744912794289, 0.1597042260108817, 0.8641088312373361], "count": [1059]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015108592808246613], "std": [0.12198493629693985], "count": [1059]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009442870632672333], "std": [0.03071474214785759], "count": [1059]}, "timestamp": {"min": [0.0], "max": [52.9], "mean": [26.450000000000003], "std": [15.285341561988945], "count": [1059]}, "frame_index": {"min": [0], "max": [1058], "mean": [529.0], "std": [305.7068312397789], "count": [1059]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1059]}, "index": {"min": [63491], "max": [64549], "mean": [64020.0], "std": [305.7068312397789], "count": [1059]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1059]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5919640761383972]], [[0.570719952268146]], [[0.5597693302247172]]], "std": [[[0.22482347618073306]], [[0.23568737541798296]], [[0.24768091016009672]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5937537496081576]], [[0.5922424823645569]], [[0.5949006066138427]]], "std": [[[0.2573821124116087]], [[0.25800714325393137]], [[0.2555353773360774]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874999944520699]], [[0.5835700492427931]], [[0.5850354236126751]]], "std": [[[0.2583433327287941]], [[0.2600112168721339]], [[0.2581643639935877]]], "count": [151]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [811]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [811]}, "observation.state": {"min": [0.8579401011228212, -0.8335109057202683, 0.6999962177173549, 0.0, 0.0, 0.7068181037902832, 0.7069573402404785, 0.08884124337708832, -0.7570682458889655, 0.23633279489662784, -0.9951236844062805, -0.8029903769493103, -0.5694655776023865, 0.0016057189786806703, -0.0014637808110051277, -0.040591418477797535], "max": [0.8587395431513589, -0.8310763015158849, 0.7090417111453052, 0.0, 0.0, 0.7072561383247375, 0.7073953747749329, 0.45190329830918574, 0.13711714889643767, 0.5994739814016941, 0.9940073490142822, 0.9906529188156128, 0.6848514080047607, 0.7367784380912781, 0.04005224364871007, -0.0005211497541929949], "mean": [0.8581246504062734, -0.8311439168556282, 0.7053049943435651, 0.0, 0.0, 0.7070940461023522, 0.7071194735467067, 0.294346024229383, -0.2189321159116757, 0.39395937648679497, -0.5383447369608113, 0.26349791806333606, -0.060470451200860365, 0.26654443278080187, 0.030356991522266435, -0.03262371031985816], "std": [4.3904040326356083e-05, 0.00011593941113429221, 0.00283306029852604, 0.0, 0.0, 4.3554932612855015e-05, 4.355894445703133e-05, 0.08951952941612712, 0.2144102156177635, 0.07844216171332097, 0.5787746487148404, 0.3935454670586149, 0.19842394561127302, 0.19188798120380893, 0.012632043031299969, 0.010230227282109585], "count": [811]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5457142857142857, -0.28285714285714286, -0.37714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9785714285714284, 1.0, 1.0, 0.7571428571428571, 0.6428571428571429, 0.7457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005169984146556283, -0.003470142680993494, -0.014171217192178997, 0.014581645235159413, 0.03524396688391753, 0.06161352827197458, -0.4401972872996301], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.499629202118813, 0.47812582525078295, 0.4210362169544004, 0.18659075031111297, 0.1531525915299311, 0.20456604540075635, 0.8979010793255832], "count": [811]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019728729501366615], "std": [0.13906656205654144], "count": [811]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012330456226880395], "std": [0.03509309363935316], "count": [811]}, "timestamp": {"min": [0.0], "max": [40.5], "mean": [20.25], "std": [11.705767809076002], "count": [811]}, "frame_index": {"min": [0], "max": [810], "mean": [405.0], "std": [234.11535618152004], "count": [811]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [811]}, "index": {"min": [64550], "max": [65360], "mean": [64955.0], "std": [234.11535618152004], "count": [811]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [811]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35803637929529714]], [[0.3426652746048879]], [[0.3269664399402968]]], "std": [[[0.2450429727232051]], [[0.2445261215003118]], [[0.23971682860387347]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3806131120383373]], [[0.3726977968460721]], [[0.35705900628047293]]], "std": [[[0.23039849827914194]], [[0.2238759165748251]], [[0.2172700678868837]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39850603524336237]], [[0.3897036154282411]], [[0.37318295879535757]]], "std": [[[0.23937581364641777]], [[0.23401675010472603]], [[0.22893013407504315]]], "count": [233]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1438]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1438]}, "observation.state": {"min": [2.4188924535616634, -0.8192454575289442, 0.6999956524400445, 0.0, 0.0, 0.7067594528198242, 0.7069776058197021, 0.05473964788387464, -0.7504294738380439, 0.21857171613715654, -0.9859314560890198, -0.7830579876899719, -0.6061801314353943, 0.0005429412703961134, -0.0017055595679170861, -0.04364735810720528], "max": [2.419488228404145, -0.8146487135326578, 0.7192600238007616, 0.0, 0.0, 0.7072359323501587, 0.7074538469314575, 0.5698173891838463, 0.21003492469293672, 0.6799597742537274, 0.985137939453125, 0.9885736107826233, 0.5282472968101501, 0.7605562806129456, 0.040931653159259195, 1.6677189059985972e-05], "mean": [2.419149631079655, -0.817724865550966, 0.7090214999126301, 0.0, 0.0, 0.7070985402865271, 0.7071149784434323, 0.3045872631604837, -0.07000973253467158, 0.4588023476283724, -0.08603846113597653, 0.47111592248019984, 0.006708840707282022, 0.2684825890784081, 0.024842671385344635, -0.02383413382099187], "std": [3.890279243770067e-05, 0.00015751273679139298, 0.006218024627799931, 0.0, 0.0, 4.013040026091559e-05, 4.013084853379417e-05, 0.12576907700221945, 0.263051219317728, 0.09780559916731962, 0.6165911819803708, 0.4496726347713126, 0.2578462697479945, 0.2228102179309611, 0.01742829616213447, 0.016808422690446155], "count": [1438]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5885714285714285, -0.8028571428571428, -0.44857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 0.9857142857142858, 1.0, 0.42, 0.7685714285714286, 0.9085714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03326544804291673, 0.001733558513808896, -0.09049274786409686, -0.01504669183389631, 0.004474468507848208, 0.022127955493741365, 0.07232267037552156], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.42515443488991994, 0.31313733500500074, 0.35213801164121666, 0.1266652746399205, 0.20815328999841365, 0.17694763949270642, 0.9973812868455895], "count": [1438]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01112656481564045], "std": [0.10489406436681747], "count": [1438]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006954102920723226], "std": [0.026361462338003985], "count": [1438]}, "timestamp": {"min": [0.0], "max": [71.85], "mean": [35.925], "std": [20.755737158674947], "count": [1438]}, "frame_index": {"min": [0], "max": [1437], "mean": [718.5], "std": [415.11474317349894], "count": [1438]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1438]}, "index": {"min": [65361], "max": [66798], "mean": [66079.5], "std": [415.11474317349894], "count": [1438]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1438]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4812183921575058]], [[0.4788229118706645]], [[0.47626416879262634]]], "std": [[[0.262158132053353]], [[0.23629439700830712]], [[0.24947502397164076]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48873774880444687]], [[0.41309075024799885]], [[0.3516439011964248]]], "std": [[[0.2131697214519302]], [[0.23443555171296795]], [[0.2694898183294242]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49493827138827634]], [[0.41319900593075237]], [[0.3492566656570948]]], "std": [[[0.22487413803401912]], [[0.2513231344353894]], [[0.2847978710887045]]], "count": [268]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1728]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1728]}, "observation.state": {"min": [0.7886508288491157, -3.527769703338612, 0.6999964234585191, 0.0, 0.0, -1.0, 2.6363414562524667e-08, 0.06488294839915798, -0.4134586172702548, 0.23390489277595727, -0.9956766366958618, -0.421114057302475, -0.6417372226715088, 6.488196231657639e-05, 0.0012112034984369492, -0.04662521567177615], "max": [0.8339281773654519, -3.174200964931909, 0.7145585651608624, 0.0, 0.0, 1.0, 0.023781754076480865, 0.4700431714153198, 0.501613350274325, 0.6081635150161426, 0.9939436316490173, 0.6421190500259399, 0.5171992778778076, 0.7405241131782532, 0.04309524316799761, -0.00037127575240341525], "mean": [0.7913651189361919, -3.515804749963115, 0.7069627495741335, 0.0, 0.0, 0.9719628621996553, 0.022350432603328647, 0.2698183916002938, -0.16426750888767974, 0.41432581349852804, -0.2672592440654558, 0.11432531347101624, -0.11581982080206722, 0.13698795992498466, 0.03509108557992675, -0.03643663784156087], "std": [0.0065699491258662856, 0.06131393983920769, 0.004783297636519938, 0.0, 0.0, 0.23402893934063373, 0.0043675301836302105, 0.09308734288987036, 0.24807422793986514, 0.08881603555649471, 0.8615512700814316, 0.23124822120918592, 0.23438353337601958, 0.18066631147788043, 0.009432824832975053, 0.006752583228897413], "count": [1728]}, "action": {"min": [-0.3616071428571429, 0.0, -0.12, 0.0, -1.0, -0.7821428571428571, -0.7312500000000001, -0.7258928571428571, -0.4914285714285715, -0.3914285714285714, -0.4314285714285714, -1.0], "max": [0.47946428571428573, 0.8732142857142857, 0.0, 0.0, 1.0, 0.5705357142857143, 0.9267857142857143, 0.8276785714285715, 0.5257142857142857, 0.44857142857142857, 0.4628571428571429, 1.0], "mean": [0.0019329737103174597, 0.008251178075396827, -0.000669642857142857, 0.0, -0.9421296296296297, -0.00271732390873013, -0.014050099206349198, -0.046879650297619015, -0.002708333333333334, 0.0035036375661375695, -0.0023313492063492054, -0.4652777777777778], "std": [0.0368268120662872, 0.06832441309745126, 0.0078204041648128, 0.0, 0.33524880458240514, 0.27124208732443683, 0.29137409661311475, 0.22246794865756656, 0.08455201051173135, 0.09714680895710036, 0.11070373475853201, 0.8851647245039623], "count": [1728]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009259259328246117], "std": [0.09577850997447968], "count": [1728]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005787037037037037], "std": [0.02404929948516221], "count": [1728]}, "timestamp": {"min": [0.0], "max": [86.35], "mean": [43.175], "std": [24.941527452557242], "count": [1728]}, "frame_index": {"min": [0], "max": [1727], "mean": [863.5], "std": [498.8305490511449], "count": [1728]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1728]}, "index": {"min": [66799], "max": [68526], "mean": [67662.5], "std": [498.8305490511449], "count": [1728]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1728]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4486611875313819]], [[0.4303849629587078]], [[0.4129741557335282]]], "std": [[[0.23089487712983697]], [[0.20634809525311992]], [[0.22256047879627916]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6193501428009898]], [[0.5765124305608745]], [[0.5390651402026739]]], "std": [[[0.19131883710519945]], [[0.207128646253415]], [[0.22811690581633917]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6189544488246145]], [[0.5776537354579419]], [[0.542645820168888]]], "std": [[[0.19095973815666825]], [[0.200911626247123]], [[0.2226587659086657]]], "count": [180]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1022]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1022]}, "observation.state": {"min": [0.7691567293149019, -0.8597916864701534, 0.6998102398050029, 0.0, 0.0, 0.6659623980522156, 0.696198582649231, 0.09694401926857288, -0.4095889374768502, 0.2524931378497246, -0.9900649189949036, -0.42563581466674805, -0.7380035519599915, 1.5342076949309558e-05, 0.0004151900182148613, -0.040933754841864844], "max": [1.1747326932123197, -0.7544824611999617, 0.7031637449107601, 0.0, 0.0, 0.7178493142127991, 0.7459853291511536, 0.5261524510382903, 0.4217174360154853, 0.6597366017917218, 0.9901624917984009, 0.9477158188819885, 0.7556930184364319, 0.8133649826049805, 0.04259482636410954, -0.0012755257497657677], "mean": [0.8647825225437714, -0.8222173933903564, 0.7007152328921313, 0.0, 0.0, 0.7083012722942927, 0.7057978903360796, 0.3366108560372068, -0.0008890404119967157, 0.42276460910952357, 0.28899453154102345, 0.29187167836845274, 0.12757675720179643, 0.24608208781224933, 0.033977091542899025, -0.03322413426642974], "std": [0.12363133145685956, 0.045426633075800776, 0.0008294954149461217, 0.0, 0.0, 0.008956837194360735, 0.008855472666896323, 0.10665482263515662, 0.20846134745442157, 0.10151515178666201, 0.6584690640617863, 0.3768472144099528, 0.3640138741260884, 0.2153124105250912, 0.0103537058733521, 0.010705235001755686], "count": [1022]}, "action": {"min": [-0.11428571428571428, -1.0, -0.38, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.7342857142857143, -0.6028571428571429, -0.4828571428571429, -1.0], "max": [0.8214285714285715, 0.6571428571428571, 0.2485714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3, 0.9257142857142858, 0.6342857142857142, 1.0], "mean": [0.010826111266424377, -0.003207995526977918, -0.0008778305842885104, 0.0, -0.8512720156555773, -0.000950517193178623, 0.12089041095890417, 0.23322616717920036, -0.08884260553536495, 0.1520827509085826, 0.060503214984623965, -0.5166340508806262], "std": [0.08000610571383757, 0.11438239685957753, 0.034838696661694875, 0.0, 0.5247246471833453, 0.49698258327051753, 0.3983776857129016, 0.4273389925689948, 0.1666511119167698, 0.244235664325315, 0.1789707985308049, 0.8562063171167816], "count": [1022]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015655577182769775], "std": [0.12413895130157471], "count": [1022]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009784735812133072], "std": [0.03126525500718289], "count": [1022]}, "timestamp": {"min": [0.0], "max": [51.05], "mean": [25.525], "std": [14.75129231626843], "count": [1022]}, "frame_index": {"min": [0], "max": [1021], "mean": [510.5], "std": [295.0258463253686], "count": [1022]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1022]}, "index": {"min": [68527], "max": [69548], "mean": [69037.5], "std": [295.0258463253686], "count": [1022]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1022]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4559877937845243]], [[0.4543397322847532]], [[0.45618162466809636]]], "std": [[[0.2943570773854212]], [[0.2732597191763971]], [[0.27554972320780735]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5902389050125332]], [[0.580107467997623]], [[0.569880732185928]]], "std": [[[0.24658247781454556]], [[0.23678372946455226]], [[0.23122391504375608]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6258613312446643]], [[0.6185699184989496]], [[0.6100790905271358]]], "std": [[[0.22935316474869932]], [[0.21593605478551456]], [[0.21082622658255679]]], "count": [267]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1726]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1726]}, "observation.state": {"min": [3.7663416053017738, -0.852328225902315, 0.699997137563297, 0.0, 0.0, 0.7065446972846985, 0.7058627605438232, 0.0009596683702021158, -0.4995506983838487, 0.23253475705881865, -0.9926630854606628, -0.7690534591674805, -0.6439706087112427, 0.000137521987198852, -0.0005065237193571449, -0.04122843525933417], "max": [4.191409035525862, -0.8008717562486556, 0.7326218242999023, 0.0, 0.0, 0.7083486318588257, 0.7076684236526489, 0.5587343852807666, 0.4559567296739484, 0.6395821345075096, 0.9906840920448303, 0.9420774579048157, 0.6968531012535095, 0.6302176117897034, 0.04257549951687294, 0.0014765047396746124], "mean": [4.1702750731823945, -0.8456354722362888, 0.7180501771380223, 0.0, 0.0, 0.7074242816117796, 0.7067890319873947, 0.2904723750645244, 0.14944779045898862, 0.42382133457946114, 0.08492831654265535, 0.18280481897199555, 0.09105941272389412, 0.16587088503521075, 0.030583421158326525, -0.02847093082563856], "std": [0.08095015145292747, 0.013029425718607556, 0.011488978254798792, 0.0, 0.0, 0.00028267133943251374, 0.00028271930674407726, 0.12834737784899705, 0.2763270867841094, 0.09895787120809195, 0.8190846994567544, 0.3635351046396723, 0.3102137570542301, 0.15580280791543966, 0.014935838075976985, 0.016179402668876967], "count": [1726]}, "action": {"min": [-0.3214285714285714, -0.5357142857142857, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.56, -0.6057142857142859, -0.4971428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.6857142857142858, 1.0, 1.0, 0.5314285714285715, 0.9028571428571428, 0.39714285714285713, 1.0], "mean": [-0.0015974176460850852, -0.01267588147657672, 0.0, 0.0, -0.9304750869061413, -0.04629614302267832, 0.05809882469789763, -0.0905686144678033, -0.02921867240523095, 0.00431716603211389, 0.011294487667604713, -0.1993047508690614], "std": [0.020702877426319204, 0.07148097078701748, 0.0, 0.0, 0.3663551728132217, 0.41188207653848513, 0.3771074379355245, 0.43919406541680195, 0.13939829320076186, 0.16840125200501133, 0.12171711141777611, 0.9799375573377187], "count": [1726]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009269988164305687], "std": [0.09583348780870438], "count": [1726]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005793742757821553], "std": [0.024063220923864644], "count": [1726]}, "timestamp": {"min": [0.0], "max": [86.25], "mean": [43.125], "std": [24.912659934258325], "count": [1726]}, "frame_index": {"min": [0], "max": [1725], "mean": [862.5], "std": [498.2531986851665], "count": [1726]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1726]}, "index": {"min": [69549], "max": [71274], "mean": [70411.5], "std": [498.2531986851665], "count": [1726]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1726]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4754924582719482]], [[0.4871610399398647]], [[0.5040759750002213]]], "std": [[[0.2570699874160366]], [[0.22624434267957472]], [[0.23845375376701225]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5314613507002742]], [[0.4556054007891443]], [[0.40788620166855527]]], "std": [[[0.2118361525497389]], [[0.2334502796106311]], [[0.2644854731676898]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5712630241600886]], [[0.4923871934477198]], [[0.4444668820399324]]], "std": [[[0.20632085493411928]], [[0.2444230898568116]], [[0.2845016205035815]]], "count": [277]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1812]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1812]}, "observation.state": {"min": [3.3911088237848346, -1.1395074368200042, 0.6999983523313326, 0.0, 0.0, 0.7063959240913391, 0.7071495056152344, 0.08737445173139102, -0.3247744095149421, 0.218803842336865, -0.9988288283348083, -0.6948925256729126, -0.4744148552417755, 0.00020396577019710094, 0.0205342968961093, -0.04052955737813515], "max": [3.597257253859925, -1.1390596415706666, 0.7222892889758051, 0.0, 0.0, 0.7070639729499817, 0.7078168392181396, 0.5070705340235714, 0.42279350995476506, 0.590569887586632, 0.9988079071044922, 0.7020571827888489, 0.5259726047515869, 0.42291924357414246, 0.04094741150652094, -0.01637672129499221], "mean": [3.5944842457032595, -1.1393741832006383, 0.7106601553098648, 0.0, 0.0, 0.7066778062326755, 0.7075355113473686, 0.2975282252988606, 0.21079232219317545, 0.3907255268916902, 0.05455137259649651, 0.14939714165375656, 0.0785131216828814, 0.1257378543425798, 0.0380532483585319, -0.037157720272138026], "std": [0.021132711731678074, 2.8618384135693397e-05, 0.007344399530611867, 0.0, 0.0, 5.455157070358924e-05, 5.449454530900912e-05, 0.10234886341072792, 0.20057963693376551, 0.08479504723268777, 0.9056919559372414, 0.2819478074776481, 0.20091536889587416, 0.11220897560839369, 0.00463598707603277, 0.005504100787395656], "count": [1812]}, "action": {"min": [-0.16071428571428573, -0.6321428571428571, -0.04, 0.0, -1.0, -0.7687499999999999, -0.8276785714285715, -0.6991071428571428, -0.38285714285714284, -0.3457142857142857, -0.7371428571428571, -1.0], "max": [0.02142857142857143, 0.0, 0.008571428571428572, 0.0, 1.0, 0.5410714285714286, 0.8732142857142857, 0.594642857142857, 0.26857142857142857, 0.4371428571428572, 0.5228571428571429, 1.0], "mean": [-0.00015078051087984864, -0.004724456007568591, -1.7344686218858404e-05, 0.0, -0.9514348785871964, -0.03710974456007565, 0.028315692999053864, -0.07123196546830647, 0.0018716493219804447, -0.0019552191737622266, 0.003883632923368024, -0.6423841059602649], "std": [0.004823636506851447, 0.04935035234712395, 0.0009608576320651483, 0.0, 0.307850080084084, 0.26084330267480443, 0.26789817430694857, 0.2254050185653908, 0.06646715505922914, 0.08818660449631777, 0.12537465795600866, 0.7663828419332123], "count": [1812]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008830022066831589], "std": [0.09355241060256958], "count": [1812]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005518763796909492], "std": [0.023485566038579705], "count": [1812]}, "timestamp": {"min": [0.0], "max": [90.55], "mean": [45.275], "std": [26.153963211465037], "count": [1812]}, "frame_index": {"min": [0], "max": [1811], "mean": [905.5], "std": [523.0792642293007], "count": [1812]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1812]}, "index": {"min": [71275], "max": [73086], "mean": [72180.5], "std": [523.0792642293007], "count": [1812]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1812]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5134473892033276]], [[0.4938999863454497]], [[0.4713972636768549]]], "std": [[[0.23767673207171733]], [[0.24098079500132213]], [[0.24635888554959548]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5367605875545832]], [[0.4627784696673642]], [[0.3985582514568828]]], "std": [[[0.23291950546173407]], [[0.2663717120052315]], [[0.293667932271214]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.517277957669947]], [[0.4309730396628303]], [[0.3609092920083197]]], "std": [[[0.21922923192816035]], [[0.25470863775465097]], [[0.28705201470855135]]], "count": [273]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1774]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1774]}, "observation.state": {"min": [5.697820630325859, -0.8794141525085997, 0.699998817529638, 0.0, 0.0, 0.6864569783210754, 0.7050565481185913, -0.03500034933720786, -0.3290505613137764, 0.1883502973944372, -0.9850601553916931, -0.5306179523468018, -0.8317797780036926, 7.461607310688123e-05, -0.006021660671728093, -0.04170583416152435], "max": [6.383461398282737, -0.8487221166627867, 0.7392641354282045, 0.0, 0.0, 0.7091509699821472, 0.7271704077720642, 0.6195726360386231, 0.4975920115011956, 0.7512700943284173, 0.9832452535629272, 0.9907315969467163, 0.8322609066963196, 0.757119357585907, 0.04357881048299379, 0.002016747725495654], "mean": [5.902489662097588, -0.8682596914990123, 0.727454194971121, 0.0, 0.0, 0.6994035088088628, 0.7146438648157755, 0.3030704470304989, 0.01969872631075718, 0.4739790523140897, 0.1082091531141265, 0.46966606731344906, 0.05975289338195104, 0.2407899626392431, 0.024425347678997802, -0.02331355617846641], "std": [0.2617037888888032, 0.011609856668758394, 0.012714797856048118, 0.0, 0.0, 0.007817010838721872, 0.0076007907895784075, 0.16067226378229268, 0.22204798291847755, 0.12066720114796738, 0.620271628810867, 0.4142273183021742, 0.337638383760795, 0.18929738777044935, 0.018114272984954268, 0.01781569311591225], "count": [1774]}, "action": {"min": [-0.22857142857142856, -0.7214285714285715, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7771428571428571, -0.6485714285714286, -0.5228571428571429, -1.0], "max": [0.18571428571428572, 0.5142857142857143, 0.04285714285714286, 0.0, 1.0, 0.6642857142857144, 1.0, 1.0, 0.9685714285714285, 1.0, 0.7057142857142857, 1.0], "mean": [-6.844902560798835e-05, -0.0037727492349814793, 0.00033821871476888394, 0.0, -0.8759864712514093, -0.054143179255918696, 0.021396360122402966, -0.020099855049122334, -0.01190207762924782, 0.09154131100016097, 0.05922853921726535, 0.07891770011273957], "std": [0.01871381813069073, 0.11241422588595362, 0.0031300937958044267, 0.0, 0.48233567376310926, 0.33084688177655064, 0.39442045224974487, 0.34788205088341917, 0.2111431702789318, 0.2792322133727134, 0.15243368756076936, 0.9968811346439155], "count": [1774]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009019165299832821], "std": [0.0945400521159172], "count": [1774]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005636978579481398], "std": [0.023735629392815445], "count": [1774]}, "timestamp": {"min": [0.0], "max": [88.65], "mean": [44.325], "std": [25.605480370420704], "count": [1774]}, "frame_index": {"min": [0], "max": [1773], "mean": [886.5], "std": [512.109607408414], "count": [1774]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1774]}, "index": {"min": [73087], "max": [74860], "mean": [73973.5], "std": [512.109607408414], "count": [1774]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1774]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6021960377558188]], [[0.5712207141469038]], [[0.5571553901023507]]], "std": [[[0.22043915963759503]], [[0.22265056682273993]], [[0.23409751583525243]]], "count": [329]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47585461040924015]], [[0.4727034019226041]], [[0.4816045060758263]]], "std": [[[0.2884992315918257]], [[0.289759219885196]], [[0.28295932241613875]]], "count": [329]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4695700159998757]], [[0.4667305727924065]], [[0.47694647002542706]]], "std": [[[0.2865510121036174]], [[0.2875700019778501]], [[0.28026759841958293]]], "count": [329]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2276]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2276]}, "observation.state": {"min": [1.0677161686474235, -5.6890635733235895, 0.6999528847348904, 0.0, 0.0, -0.7368922829627991, 0.6760101914405823, 0.028964829458659302, -0.376962370264341, 0.20313737406006416, -0.9961180686950684, -0.3106636106967926, -0.247653067111969, 2.394921102677472e-05, -4.1221836097058426e-05, -0.04093014265566578], "max": [1.8597333439496164, -5.612964203170713, 0.7334720467346361, 0.0, 0.0, -0.7068038582801819, 0.707409679889679, 0.4813217458506074, 0.4504440744103928, 0.6095351953490289, 0.9981752634048462, 0.47048288583755493, 0.5240322351455688, 0.6030210256576538, 0.04775895569371897, 0.0010020569108993291], "mean": [1.2633746972703155, -5.658704665750492, 0.7203213984071457, 0.0, 0.0, -0.7192331211009637, 0.6946392081062488, 0.28143193303179453, 0.22794702025669916, 0.39353419427131286, 0.32398541997103364, 0.08524424803356505, 0.09046749813578588, 0.14609206754601486, 0.03411409413921622, -0.03328512385308255], "std": [0.33472479116799775, 0.01675278455838291, 0.011644382344190879, 0.0, 0.0, 0.009246410721168162, 0.009725870268869993, 0.11887926602561069, 0.26145890465995525, 0.0910089615504473, 0.870990722383302, 0.16931183108394723, 0.21766990404596293, 0.1535190047699447, 0.012120629804452327, 0.012176804996825575], "count": [2276]}, "action": {"min": [-0.40714285714285714, -0.6241071428571429, -0.10285714285714286, 0.0, -1.0, -0.7660714285714286, -0.8196428571428573, -0.9375, -0.4514285714285714, -0.3171428571428571, -0.4971428571428572, -1.0], "max": [0.3991071428571428, 0.7687499999999999, 0.022857142857142857, 0.0, 1.0, 0.6080357142857142, 0.7151785714285714, 0.5705357142857143, 0.2714285714285714, 0.44285714285714284, 0.43428571428571433, 1.0], "mean": [0.001260434973637961, 0.005713736505146879, -0.0009929701230228475, 0.0, -0.8743409490333919, -0.01623148380617627, -0.006431631308059245, -0.0839560318855135, 0.004653527491840318, 0.011920662816972136, 0.0023650514687421544, -0.29789103690685415], "std": [0.03791195695922041, 0.11148355566192963, 0.008582321353226934, 0.0, 0.4853121725687437, 0.2762311096719433, 0.2195825608951374, 0.3129971632616382, 0.06185084761815294, 0.08391966977673905, 0.08717597287044082, 0.9545998795990686], "count": [2276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007029877044260502], "std": [0.0835491344332695], "count": [2276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004393673110720562], "std": [0.020956485092639403], "count": [2276]}, "timestamp": {"min": [0.0], "max": [113.75], "mean": [56.875], "std": [32.85122714602911], "count": [2276]}, "frame_index": {"min": [0], "max": [2275], "mean": [1137.5], "std": [657.0245429205822], "count": [2276]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [2276]}, "index": {"min": [74861], "max": [77136], "mean": [75998.5], "std": [657.0245429205822], "count": [2276]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2276]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4735753384950234]], [[0.4503275803260006]], [[0.4223356054473572]]], "std": [[[0.19316712602732516]], [[0.1802473688377863]], [[0.17801935898051746]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.054901960784313725]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42686588369823086]], [[0.3930867666452598]], [[0.3770122556296657]]], "std": [[[0.18960514085784544]], [[0.207381944667176]], [[0.21591728695124693]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.434016297574719]], [[0.3996632668116325]], [[0.3848681730930553]]], "std": [[[0.19531416975333918]], [[0.21518102058706148]], [[0.2250095642158087]]], "count": [273]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1774]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1774]}, "observation.state": {"min": [7.2369136767317395, -4.093646074866444, 0.6999971203088166, 0.0, 0.0, -0.010597215965390205, 0.9999438524246216, 0.006998126378443992, -0.225825066468071, 0.24556798549823977, -0.9997026324272156, -0.6687372922897339, -0.6539118885993958, 0.00010312216909369454, -0.0006334872449152155, -0.04092105876400591], "max": [7.319751449875849, -3.564912255101932, 0.7105892682054519, 0.0, 0.0, -7.464724330930039e-05, 1.0, 0.4514452746054527, 0.3926806311925102, 0.6182254987371606, 0.9973894953727722, 0.6637911200523376, 0.611779510974884, 0.500639796257019, 0.04129659533803022, -0.015021882566937575], "mean": [7.30039083521874, -3.7477958544734813, 0.7054523477695094, 0.0, 0.0, -0.005389205043083481, 0.9999847348943235, 0.23546948190643963, -0.042401499740434216, 0.4013487378971856, -0.2417828174226045, 0.10732040450758099, -0.08809670175867614, 0.10104838999314433, 0.03634246292553766, -0.03887194327356548], "std": [0.01384683819872293, 0.24763176276778523, 0.003544876831589226, 0.0, 0.0, 0.001235009492773287, 6.814555415044515e-06, 0.1092936006819658, 0.2005170121631784, 0.0802955759898977, 0.8342355809605703, 0.3511407690919388, 0.2839727327666208, 0.11028251551185739, 0.007756698563285439, 0.003438773331585547], "count": [1774]}, "action": {"min": [-0.4714285714285715, -0.7392857142857142, -0.10571428571428572, 0.0, -1.0, -0.7982142857142857, -0.7285714285714285, -0.5919642857142857, -0.2857142857142857, -0.3914285714285714, -0.68, -1.0], "max": [0.45535714285714285, 0.5973214285714286, 0.06, 0.0, 1.0, 0.5785714285714285, 0.9375, 0.7580357142857144, 0.34, 0.38, 0.7657142857142857, 1.0], "mean": [0.0022165405057175073, -0.004125060396199065, -0.00024319536157191182, 0.0, -0.8635851183765502, -0.0230351103237236, 0.004760730391367337, -0.0143078595587051, 0.010090191657271694, 0.000574971815107107, 0.003016588822676755, -0.6234498308906427], "std": [0.04879740860458207, 0.09956604355838226, 0.004484387950739353, 0.0, 0.5042030774584422, 0.2679548448800142, 0.21143952526883789, 0.20961579323087845, 0.06667506251418621, 0.08759290825814214, 0.15158634704861135, 0.7818633565799351], "count": [1774]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009019165299832821], "std": [0.0945400521159172], "count": [1774]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005636978579481398], "std": [0.023735629392815445], "count": [1774]}, "timestamp": {"min": [0.0], "max": [88.65], "mean": [44.325], "std": [25.605480370420704], "count": [1774]}, "frame_index": {"min": [0], "max": [1773], "mean": [886.5], "std": [512.109607408414], "count": [1774]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1774]}, "index": {"min": [77137], "max": [78910], "mean": [78023.5], "std": [512.109607408414], "count": [1774]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1774]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4729125235138643]], [[0.4579927925876915]], [[0.44994550820729035]]], "std": [[[0.1952184494499257]], [[0.18750780956624732]], [[0.19116616591234303]]], "count": [251]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.06666666666666667]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40907861617065744]], [[0.3745689712141782]], [[0.3628894053458348]]], "std": [[[0.2081582090382216]], [[0.22864216637255683]], [[0.23807835562148036]]], "count": [251]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3921184610420908]], [[0.3564400417154147]], [[0.34278747544289756]]], "std": [[[0.19347878925563433]], [[0.2144928696587634]], [[0.22392956370838318]]], "count": [251]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1589]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1589]}, "observation.state": {"min": [2.0675031710114675, -0.8541971526016128, 0.6999971518563122, 0.0, 0.0, 0.6942137479782104, 0.7071066498756409, 0.11438478500504445, -0.31816415446870616, 0.21118696011467286, -0.9998073577880859, -0.295572429895401, -0.3490106165409088, 9.1919006081298e-05, 0.0007494175324770281, -0.04035370641155818], "max": [2.699139011940139, -0.7788772734486695, 0.7246335638790076, 0.0, 0.0, 0.7071068286895752, 0.7197690010070801, 0.5098061169552262, 0.3882506741367804, 0.5926975078754025, 0.9998062252998352, 0.652952253818512, 0.41920006275177, 0.36301037669181824, 0.040869893810324034, -0.0005816699942297588], "mean": [2.529913317312618, -0.8120452279552361, 0.7134603539830363, 0.0, 0.0, 0.7035330406069531, 0.7106424067063929, 0.32181854296442153, 0.15021808838280126, 0.3757926731128241, 0.4898805255181689, 0.1598908698703224, 0.08342280864509871, 0.1086640487864206, 0.03470667579429192, -0.03388977300826164], "std": [0.27509256825834616, 0.019662831570383215, 0.008796887341932555, 0.0, 0.0, 0.0038134461987063607, 0.003753875060392148, 0.09220310808041067, 0.23291855429404612, 0.08755061445895751, 0.8004037207460065, 0.18043705469451957, 0.18451638929162734, 0.0918411386164999, 0.010536066905073251, 0.011047496575626831], "count": [1589]}, "action": {"min": [-0.47678571428571426, -0.6000000000000001, -0.14285714285714285, 0.0, -1.0, -0.8705357142857143, -0.7339285714285714, -0.8785714285714287, -0.4028571428571428, -0.4314285714285714, -0.58, -1.0], "max": [0.46071428571428574, 0.7687499999999999, 0.05428571428571429, 0.0, 1.0, 0.5973214285714286, 0.7633928571428571, 0.5705357142857143, 0.20857142857142857, 0.3657142857142857, 0.5171428571428571, 1.0], "mean": [0.0022099478557943003, 0.0089308190236447, -0.00046210554706464086, 0.0, -0.8577721837633732, -0.05164299199856161, -0.0020767778477030273, -0.09734896161107587, -0.001909556774251546, 0.005002247595073266, -0.0018592106446102634, -0.5959723096286973], "std": [0.04316229289535383, 0.10601227040808443, 0.007943182473492868, 0.0, 0.514030038773822, 0.3173241638701654, 0.23849868963021845, 0.2835160266364126, 0.05688127748179901, 0.08052783420417862, 0.09224142928461139, 0.8030049851375987], "count": [1589]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010069225914776325], "std": [0.09983905404806137], "count": [1589]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006293266205160479], "std": [0.025078488162581843], "count": [1589]}, "timestamp": {"min": [0.0], "max": [79.4], "mean": [39.7], "std": [22.935234901783765], "count": [1589]}, "frame_index": {"min": [0], "max": [1588], "mean": [794.0], "std": [458.7046980356752], "count": [1589]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1589]}, "index": {"min": [78911], "max": [80499], "mean": [79705.0], "std": [458.7046980356752], "count": [1589]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1589]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5563047847845067]], [[0.5464810654768217]], [[0.5357086072046506]]], "std": [[[0.23258315610450636]], [[0.2334607809019945]], [[0.24413235060240518]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5507322691007993]], [[0.47706991134169013]], [[0.4300697625304128]]], "std": [[[0.204112509256246]], [[0.23726092746372135]], [[0.27128495109840295]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5651732740872791]], [[0.4994964102052079]], [[0.4581180611141692]]], "std": [[[0.2093335031228307]], [[0.2443904492175252]], [[0.27790679374180877]]], "count": [273]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1779]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1779]}, "observation.state": {"min": [2.614644683552796, -0.7953784028018641, 0.6999457319109691, 0.0, 0.0, 0.7061037421226501, 0.7071028351783752, 0.048839840322672856, -0.5419107166809654, 0.21380266615279075, -0.998080313205719, -0.47275984287261963, -0.29073044657707214, 2.2785494365962222e-05, -1.0874375643153854e-05, -0.04196160713500663], "max": [3.0109375855539255, -0.7948975917632236, 0.7295827835997462, 0.0, 0.0, 0.7071107029914856, 0.7081083655357361, 0.4668609979582096, 0.37969572904485105, 0.6207324744707947, 0.997633159160614, 0.626522421836853, 0.4217380881309509, 0.3983670771121979, 0.043829066495489497, -0.0009946303433892671], "mean": [3.004823304410862, -0.7951747367169668, 0.7170698873788968, 0.0, 0.0, 0.7062840117303892, 0.7079285974580294, 0.27132870939404474, 0.1336085917834307, 0.3983886167224165, 0.15821174696766305, 0.07271114223547166, 0.042726386974085956, 0.10853698307582184, 0.03771716545586082, -0.03812855212383126], "std": [0.0452832652806301, 4.649842853860208e-05, 0.011066841914357325, 0.0, 0.0, 9.423885347920306e-05, 9.410275781931797e-05, 0.11748706221649328, 0.271186877527744, 0.09500809442707565, 0.9345001243936439, 0.18588123432891795, 0.1976390043649175, 0.09577483677659591, 0.0063872083509347085, 0.006247120480681552], "count": [1779]}, "action": {"min": [-0.10446428571428572, -0.7553571428571428, -0.07142857142857142, 0.0, -1.0, -0.9375, -0.8008928571428572, -0.9375, -0.38285714285714284, -0.4114285714285714, -0.4828571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.675, 0.9375, 0.8732142857142857, 0.32285714285714284, 0.3857142857142858, 0.34, 1.0], "mean": [-0.0001385208383522043, -0.007766200915442065, -4.0150967638320084e-05, 0.0, -0.941540191118606, -0.04077029631414127, 0.03248915923873759, -0.06387617441580336, 0.0063775796996707575, 0.003481891913595123, -0.006637757969967092, -0.6458684654300169], "std": [0.0027937203340846683, 0.06972992807287243, 0.0016930192437411573, 0.0, 0.3369006804806525, 0.32268117584207506, 0.29631024635597986, 0.29233857843746486, 0.07858393630628774, 0.08233672869060549, 0.08104901109590455, 0.7634487051289517], "count": [1779]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008993816561996937], "std": [0.0944083034992218], "count": [1779]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005621135469364812], "std": [0.023702269412375507], "count": [1779]}, "timestamp": {"min": [0.0], "max": [88.9], "mean": [44.449999999999996], "std": [25.67764916550319], "count": [1779]}, "frame_index": {"min": [0], "max": [1778], "mean": [889.0], "std": [513.5529833100638], "count": [1779]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1779]}, "index": {"min": [80500], "max": [82278], "mean": [81389.0], "std": [513.5529833100638], "count": [1779]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1779]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44296442384623824]], [[0.39866927316217876]], [[0.38009260944797046]]], "std": [[[0.2681086983541165]], [[0.27030605029963733]], [[0.2701797536505291]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.598712805104622]], [[0.5012560239467408]], [[0.4559115362849637]]], "std": [[[0.2007447619448113]], [[0.2268036221580543]], [[0.22108888824080827]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.635680385765476]], [[0.5478390941205452]], [[0.49128048976136063]]], "std": [[[0.17158283350824838]], [[0.206849467201749]], [[0.21168866704236716]]], "count": [185]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1059]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1059]}, "observation.state": {"min": [7.223931422054598, -3.71116967714902, 0.6999975091958957, 0.0, 0.0, -0.023437220603227615, 0.9997252821922302, 0.1253371988237486, -0.48231166219705734, 0.2242878521505638, -0.9941211342811584, -0.8787490129470825, -0.7642577290534973, 0.0014678206061944366, 0.0021105178679135745, -0.040755636259264594], "max": [7.304730455798527, -3.421816996068559, 0.7131846012776064, 0.0, 0.0, 0.00014649760851170868, 1.0, 0.5830568183609346, 0.367516727502629, 0.6160779360891503, 0.9988564252853394, 0.8737527132034302, 0.764814019203186, 0.541763186454773, 0.041406147071628714, -0.0016122771007718885], "mean": [7.248557652395957, -3.5082151447583376, 0.7049212055799421, 0.0, 0.0, -0.006140340320158022, 0.9999389989517904, 0.33327121941653565, -0.019654002582684484, 0.3939454644089056, 0.09278259975826887, 0.11568885143209562, -0.04057072821229595, 0.15192435121751188, 0.036264275312247976, -0.03618436201097004], "std": [0.034785301271522344, 0.13105487795056014, 0.003733876256940824, 0.0, 0.0, 0.009181924154907815, 9.322123638265731e-05, 0.1140977642633538, 0.21473796209916832, 0.08121035955220735, 0.7819023177529422, 0.49335768036430866, 0.277832524419641, 0.14600186628576442, 0.006596896979566744, 0.008667628182746707], "count": [1059]}, "action": {"min": [0.0, -0.5785714285714286, -0.08857142857142856, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4285714285714286, -0.36, -0.54, -1.0], "max": [0.5785714285714286, 0.0, 0.002857142857142857, 0.0, 1.0, 0.9571428571428572, 1.0, 1.0, 0.5257142857142857, 0.5057142857142857, 0.5857142857142857, 1.0], "mean": [0.008626736813705653, -0.014643194388236882, -0.0012167813300957776, 0.0, -0.9131255901794145, 0.011661945231350342, 0.0015850532847700074, -0.06655200323755568, -0.0076379333603129726, 0.01600971266693646, 0.004667476055578047, -0.49008498583569404], "std": [0.05756717899984781, 0.0764479330062603, 0.009037182305508954, 0.0, 0.4076783739168632, 0.43736020236854517, 0.42478887739668214, 0.4219591641714091, 0.12956850528598024, 0.11971745490197297, 0.1690207686091275, 0.8716746564277355], "count": [1059]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015108592808246613], "std": [0.12198493629693985], "count": [1059]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009442870632672333], "std": [0.03071474214785759], "count": [1059]}, "timestamp": {"min": [0.0], "max": [52.9], "mean": [26.450000000000003], "std": [15.285341561988945], "count": [1059]}, "frame_index": {"min": [0], "max": [1058], "mean": [529.0], "std": [305.7068312397789], "count": [1059]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1059]}, "index": {"min": [82279], "max": [83337], "mean": [82808.0], "std": [305.7068312397789], "count": [1059]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1059]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5411860400708455]], [[0.522054559553754]], [[0.5151183956959208]]], "std": [[[0.24576992267400777]], [[0.24403620695374872]], [[0.24819332728411708]]], "count": [244]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5011716957300738]], [[0.43249061974403136]], [[0.3892224406552292]]], "std": [[[0.22933707971901185]], [[0.24222803185638933]], [[0.26526707077643974]]], "count": [244]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5329153298182107]], [[0.44621206177503336]], [[0.3913121975414702]]], "std": [[[0.2016696818047532]], [[0.23568038049796597]], [[0.26882717959617547]]], "count": [244]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1527]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1527]}, "observation.state": {"min": [3.0310476431794013, -0.8120716652759663, 0.6999962155890098, 0.0, 0.0, 0.7064218521118164, 0.7070447206497192, 0.027928040902976514, -0.35359540734193917, 0.22233900131428264, -0.9990283846855164, -0.6137827634811401, -0.5938841104507446, 4.687523869506549e-06, -0.0010973672241942603, -0.04180084714598439], "max": [3.469901326391003, -0.7951376179428868, 0.7311596892759812, 0.0, 0.0, 0.707168698310852, 0.7077911496162415, 0.5040071983611313, 0.3644741548212296, 0.6283484194229848, 0.9943052530288696, 0.7030994892120361, 0.3259599506855011, 0.4049597680568695, 0.04080875455532522, -0.011715492745122697], "mean": [3.0393549594814497, -0.7956454340974023, 0.7135502989085263, 0.0, 0.0, 0.7069775902842413, 0.7072359631478435, 0.2648144035362509, -0.18914216102301606, 0.4047185497210557, -0.6939875424962146, 0.040108814676973505, -0.11730314982803239, 0.12420116082397341, 0.03608855490568759, -0.037988022188680276], "std": [0.05630032940138765, 0.0024913344175073963, 0.010072150425978796, 0.0, 0.0, 6.143907722910095e-05, 6.13915074971396e-05, 0.10064047400607012, 0.19582346742288909, 0.09467945761611174, 0.5658169870858599, 0.3443934097376897, 0.18842916736369653, 0.11543561568776975, 0.008948550107912194, 0.004829025894311162], "count": [1527]}, "action": {"min": [-0.27142857142857146, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.23714285714285716, -0.5371428571428571, -0.5628571428571428, -1.0], "max": [0.35714285714285715, 0.9, 0.0, 0.0, 1.0, 0.9214285714285714, 1.0, 1.0, 0.28285714285714286, 0.44571428571428573, 0.54, 1.0], "mean": [0.0011273271587613435, 0.00914023762746749, 0.0, 0.0, -0.9214145383104125, -0.03584058377771539, 0.02127888483487697, -0.13493310880344306, 0.011563289362896443, 0.004629057910000935, 0.0006511366825708761, -0.7066142763588736], "std": [0.025275941264838685, 0.08241368642544274, 0.0, 0.0, 0.38858107080790805, 0.3634763756628653, 0.3542091750408524, 0.3560896968947596, 0.05361136342234361, 0.10447024860796433, 0.12011707913913933, 0.7075989432198411], "count": [1527]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010478061623871326], "std": [0.10182470828294754], "count": [1527]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006548788474132286], "std": [0.025582220019154694], "count": [1527]}, "timestamp": {"min": [0.0], "max": [76.3], "mean": [38.15], "std": [22.04034180013247], "count": [1527]}, "frame_index": {"min": [0], "max": [1526], "mean": [763.0], "std": [440.8068360026494], "count": [1527]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1527]}, "index": {"min": [83338], "max": [84864], "mean": [84101.0], "std": [440.8068360026494], "count": [1527]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1527]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43829304256781076]], [[0.42323330168286405]], [[0.4135689610481606]]], "std": [[[0.21290162160800702]], [[0.20945282698515186]], [[0.20882647964919207]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4073511430879628]], [[0.3787284756544249]], [[0.37239343172144723]]], "std": [[[0.19203356603246793]], [[0.20586152108531403]], [[0.21298281393420426]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41828404470971675]], [[0.3832640848993811]], [[0.3705720359777466]]], "std": [[[0.20123385122915116]], [[0.22220312390894875]], [[0.23147508442477607]]], "count": [163]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [896]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [896]}, "observation.state": {"min": [2.161280630258084, -0.783752019500374, 0.6999996438840514, 0.0, 0.0, 0.7066097855567932, 0.7068226337432861, 0.05353299639762221, -0.6482671825300912, 0.21004390985859822, -0.9937929511070251, -0.986354649066925, -0.3003075122833252, 0.0002895724028348923, 0.00030256424708473045, -0.04088608967496568], "max": [2.1632093169702626, -0.780513974813098, 0.7173370115557564, 0.0, 0.0, 0.7073907256126404, 0.707603394985199, 0.45112294400911307, 0.24912176059188917, 0.6254372753214021, 0.9935755133628845, 0.9983103275299072, 0.29254862666130066, 0.49244362115859985, 0.04136551982922294, -0.0010544646346825138], "mean": [2.1617764210607713, -0.7805727260126635, 0.7096590363453752, 0.0, 0.0, 0.7071038930277739, 0.707109624187329, 0.2637974589187453, -0.11455739789555389, 0.39600607229801515, 0.09441630439326332, 0.8284258291574328, -0.019941634318337873, 0.1969661756591969, 0.034812265419535485, -0.0349115191942456], "std": [7.450587597307203e-05, 0.00015889062024443054, 0.005101401697515064, 0.0, 0.0, 4.297432770447242e-05, 4.296862873678135e-05, 0.08207617008074483, 0.17087770869801336, 0.0847614129755022, 0.32169653872148923, 0.3623355489727527, 0.1169819645350472, 0.13092887812036452, 0.009315131909174223, 0.00930199804438033], "count": [896]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.54, -0.4, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2742857142857143, 0.9485714285714286, 0.6942857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.042474489795918384, -0.00011160714285716241, -0.0659438775510205, -0.009142219387755102, 0.05338647959183673, 0.04389030612244905, -0.6205357142857143], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5255307294882021, 0.3471003392751086, 0.49115431317486186, 0.07958582427322837, 0.1741920448547172, 0.16248135235250014, 0.7841781859347495], "count": [896]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01785714365541935], "std": [0.13243211805820465], "count": [896]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011160714285714285], "std": [0.033389007369758014], "count": [896]}, "timestamp": {"min": [0.0], "max": [44.75], "mean": [22.375], "std": [12.932637975293362], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [896]}, "index": {"min": [84865], "max": [85760], "mean": [85312.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [896]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5075192183336567]], [[0.48888792689987287]], [[0.4797937502869315]]], "std": [[[0.24063411551225644]], [[0.23679181834791493]], [[0.24050047997462146]]], "count": [327]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5373714107800038]], [[0.35878078503925226]], [[0.3213825476300397]]], "std": [[[0.23922301518762018]], [[0.27135393669449437]], [[0.29462082293579833]]], "count": [327]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666312681425603]], [[0.392838626574961]], [[0.3563885234904359]]], "std": [[[0.2406795478140325]], [[0.2929859928457307]], [[0.3183094365593896]]], "count": [327]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2259]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2259]}, "observation.state": {"min": [4.892690672501252, -6.502619704421563, 0.6999975560767437, 0.0, 0.0, -0.013628428801894188, 0.9999071359634399, -0.006148921968964771, -0.42390830841363414, 0.20088035467168808, -0.9981572031974792, -0.5394843220710754, -0.6204677224159241, 2.99604707834078e-05, 0.00018922777164425504, -0.045561659239675235], "max": [4.89745942878248, -6.104860021982677, 0.7678815886036006, 0.0, 0.0, 0.0021870932541787624, 1.0, 0.49130676897314807, 0.4251628423802032, 0.571999279393485, 0.9981608986854553, 0.6210620403289795, 0.2703678011894226, 0.594368040561676, 0.04226119988522781, 0.0004487189401755091], "mean": [4.897221980768966, -6.110470962390558, 0.7337640354055391, 0.0, 0.0, -4.2557777632038545e-06, 0.999999535616756, 0.2442177669265689, -0.23519802600912612, 0.3687926073324021, -0.6792964320786499, 0.1564941318436052, -0.2086464569428103, 0.14230579712822358, 0.031270611165927865, -0.03628191205093068], "std": [0.00045018596953478164, 0.03965576783403998, 0.021920257150162683, 0.0, 0.0, 0.000972566714786941, 5.854060340212009e-06, 0.11081759293466174, 0.22516632760683966, 0.08379813567848482, 0.5859066106109219, 0.22355482113172787, 0.19572375276968762, 0.1367865371317624, 0.014248038747592975, 0.010205845383904356], "count": [2259]}, "action": {"min": [-0.17946428571428572, -0.08303571428571428, -0.13142857142857142, 0.0, -1.0, -0.8812500000000001, -0.7125, -0.9375, -0.32857142857142857, -0.4257142857142857, -0.41714285714285715, -1.0], "max": [0.2919642857142857, 0.8517857142857143, 0.1657142857142857, 0.0, 1.0, 0.5089285714285714, 0.9375, 0.6294642857142857, 0.34, 0.5742857142857143, 0.5428571428571428, 1.0], "mean": [-9.604439385315886e-05, 0.0057863782963384555, 1.2647821412761373e-06, 0.0, -0.9486498450641877, -0.041769825460064434, -0.021581531018782005, -0.14089594004932682, 0.007097957376841843, 0.010646936065262739, 0.0018276101941440543, -0.3802567507746791], "std": [0.018508682990673597, 0.06310741281373963, 0.00904247515905855, 0.0, 0.3163281072868887, 0.32789861629457423, 0.25444268344252646, 0.341873173211886, 0.06732960870953877, 0.09458980514560889, 0.08193023049871972, 0.9248809672007866], "count": [2259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0070827798917889595], "std": [0.08386068046092987], "count": [2259]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004426737494466578], "std": [0.02103515603455816], "count": [2259]}, "timestamp": {"min": [0.0], "max": [112.9], "mean": [56.449999999999996], "std": [32.60585325776135], "count": [2259]}, "frame_index": {"min": [0], "max": [2258], "mean": [1129.0], "std": [652.1170651552271], "count": [2259]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [2259]}, "index": {"min": [85761], "max": [88019], "mean": [86890.0], "std": [652.1170651552271], "count": [2259]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2259]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.52100616336181]], [[0.5009286818486365]], [[0.4801144574271267]]], "std": [[[0.24017892339556923]], [[0.246476840305531]], [[0.2598291199052086]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5010270072360555]], [[0.41542877043284104]], [[0.34531142076496085]]], "std": [[[0.2156529235742255]], [[0.2509241565890583]], [[0.28024691508988936]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5165614943642295]], [[0.434119910119388]], [[0.3656976336681227]]], "std": [[[0.21659470885607648]], [[0.2524195791511888]], [[0.28320582302538305]]], "count": [307]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2079]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2079]}, "observation.state": {"min": [0.8122755905135801, -1.7652877767771147, 0.6997252908834852, 0.0, 0.0, -1.0, 0.0, 0.11605836268304526, -0.4291251005481864, 0.20967709355819997, -0.9968851208686829, -0.5063984394073486, -0.6668526530265808, 9.249026334146038e-05, 7.520799629605081e-05, -0.0528563940545069], "max": [0.8148190805613582, -1.1996288816776435, 0.7291805013321518, 0.0, 0.0, 1.0, 0.03463318943977356, 0.5149248285372576, 0.396860933519366, 0.6384280789408003, 0.9992336630821228, 0.8213313817977905, 0.6595120429992676, 0.778979480266571, 0.04235343634274826, 4.105663178355595e-05], "mean": [0.814078855838929, -1.631999473036941, 0.7139667108146932, 0.0, 0.0, 0.9782911718837799, 0.03258148192709168, 0.3351194263340069, -0.14593885301845436, 0.40552342243189515, -0.4406735725331731, 0.07838224324506599, -0.13415287869633483, 0.1552088097857365, 0.031782119972896684, -0.0326365866723519], "std": [0.000944264262393399, 0.23338299370219956, 0.011150983667492545, 0.0, 0.0, 0.204590016416097, 0.0052695466370183556, 0.10450206183214993, 0.22520297203094858, 0.08900817875950223, 0.7891261919420384, 0.23095199072251044, 0.2136442376067777, 0.18940281511957796, 0.013540806682627072, 0.013514378693361582], "count": [2079]}, "action": {"min": [-0.06964285714285715, -0.6401785714285715, -0.20857142857142857, 0.0, -1.0, -0.8437500000000001, -0.75, -0.9375, -0.4571428571428572, -0.30857142857142855, -0.17142857142857143, -1.0], "max": [0.2517857142857143, 0.7151785714285714, 0.037142857142857144, 0.0, 1.0, 0.7366071428571429, 0.7580357142857144, 0.7044642857142857, 0.4, 0.4028571428571428, 0.29714285714285715, 1.0], "mean": [0.0017689651618223046, -0.005084003298289013, -0.0008314436885865458, 0.0, -0.8951418951418951, -0.02156642960214393, 0.00287054215625646, -0.07607194392908677, 0.004606610320896043, 0.013841819556105257, 0.0055026455026455125, -0.24001924001924002], "std": [0.016601062606370006, 0.09133634601087066, 0.011273764586742894, 0.0, 0.4457813225806708, 0.27919672215595537, 0.24084155765325416, 0.3138165957229236, 0.08537456497848962, 0.09541428389793312, 0.057659336805238215, 0.9707681311315359], "count": [2079]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007696007844060659], "std": [0.08738866448402405], "count": [2079]}, "next.done": {"min": [false], "max": [true], "mean": [0.000481000481000481], "std": [0.021926447946207756], "count": [2079]}, "timestamp": {"min": [0.0], "max": [103.9], "mean": [51.95], "std": [30.007776769808636], "count": [2079]}, "frame_index": {"min": [0], "max": [2078], "mean": [1039.0], "std": [600.1555353961727], "count": [2079]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [2079]}, "index": {"min": [88020], "max": [90098], "mean": [89059.0], "std": [600.1555353961727], "count": [2079]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2079]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5117485323225239]], [[0.5043060273502978]], [[0.4879723628630691]]], "std": [[[0.24024899859099802]], [[0.23807294445325963]], [[0.24175886984381523]]], "count": [348]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5169516053800517]], [[0.439801171375659]], [[0.374860190872354]]], "std": [[[0.22329651290614494]], [[0.25744013220133677]], [[0.2868223828603685]]], "count": [348]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5037227395904315]], [[0.4280021216973061]], [[0.3624432070072046]]], "std": [[[0.21444592010923966]], [[0.24220117759691795]], [[0.2675833157841819]]], "count": [348]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2448]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2448]}, "observation.state": {"min": [0.7582924475032597, -1.7193666285757379, 0.6999970058241312, 0.0, 0.0, -1.0, 8.648177640679933e-08, -0.006910842800202599, -0.3689680907638253, 0.20155905918761585, -0.9956952333450317, -0.563597559928894, -0.5392526388168335, 4.5665656216442585e-05, 0.0006787294459058965, -0.0408276074852822], "max": [0.8549226030048713, -1.0007182329757518, 0.7419602312240565, 0.0, 0.0, 1.0, 0.037166777998209, 0.46918091491885705, 0.4493248907881906, 0.5893414397015667, 0.999700129032135, 0.6830159425735474, 0.45605459809303284, 0.5750634074211121, 0.041177013912551824, -0.00026075978579015663], "mean": [0.7659547281289857, -1.1837289802362776, 0.7246917533523781, 0.0, 0.0, 0.9752752399376405, 0.01820988164412799, 0.20590465476729738, 0.22736235139891586, 0.41930661580682405, -0.21178225459518776, 0.0726818924098659, -0.03531501980590476, 0.11691129222436145, 0.037429929723178594, -0.03551040688491928], "std": [0.016156697820797167, 0.3075240400828463, 0.014930567223103474, 0.0, 0.0, 0.22001906134006283, 0.00991262434605034, 0.1100633306574215, 0.2328504311389794, 0.08784102954452415, 0.8779420513636164, 0.29947299410839145, 0.24666875486030007, 0.11678367451417855, 0.007249582625322787, 0.009977228533875351], "count": [2448]}, "action": {"min": [-0.5758928571428572, -0.7205357142857144, -0.10857142857142858, 0.0, -1.0, -0.8169642857142857, -0.7633928571428571, -0.9375, -0.3314285714285714, -0.32857142857142857, -0.5571428571428572, -1.0], "max": [0.6482142857142857, 0.8544642857142859, 0.037142857142857144, 0.0, 1.0, 0.6696428571428571, 0.7714285714285715, 0.7580357142857144, 0.2714285714285714, 0.34, 0.6, 1.0], "mean": [0.007673538165266104, 0.00574339110644258, -0.0007387955182072831, 0.0, -0.8349673202614379, -0.061415660014005544, 0.03477109593837531, -0.13133534663865526, -0.0015651260504201622, 0.010643090569561149, 0.0002952847805788917, -0.5841503267973857], "std": [0.07282865471119498, 0.11255415052930665, 0.007772294573353556, 0.0, 0.5502995312513075, 0.2772533095050009, 0.23383884212053688, 0.33098253351780405, 0.05634960637143817, 0.06905534536081544, 0.11075282983970405, 0.8116454864671564], "count": [2448]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006535947788506746], "std": [0.08058057725429535], "count": [2448]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004084967320261438], "std": [0.02020717353926738], "count": [2448]}, "timestamp": {"min": [0.0], "max": [122.35], "mean": [61.17500000000001], "std": [35.33383352633375], "count": [2448]}, "frame_index": {"min": [0], "max": [2447], "mean": [1223.5], "std": [706.6766705266749], "count": [2448]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [2448]}, "index": {"min": [90099], "max": [92546], "mean": [91322.5], "std": [706.6766705266749], "count": [2448]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2448]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.395704393942072]], [[0.38890529516343797]], [[0.37677321287589555]]], "std": [[[0.2482127608122271]], [[0.2437734605013945]], [[0.24359015547897994]]], "count": [325]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4715512373105793]], [[0.4584706917096767]], [[0.43381495944982557]]], "std": [[[0.2544535701999217]], [[0.24416178420548745]], [[0.23451592507141128]]], "count": [325]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46589159990543694]], [[0.45376220500595066]], [[0.42981845180229544]]], "std": [[[0.2519084564850276]], [[0.24208864465680163]], [[0.23386329459599983]]], "count": [325]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2243]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2243]}, "observation.state": {"min": [3.8382883478987115, -0.879220762241897, 0.6999972023574672, 0.0, 0.0, 0.6794148683547974, 0.7071589231491089, 0.06403072567137735, -0.5173745585455718, 0.23194157526425618, -0.9987280964851379, -0.7669268846511841, -0.6975218653678894, 5.217211219132878e-05, 0.005233234381342719, -0.04044911940987375], "max": [4.407641600775562, -0.7612445060901281, 0.7073454832135152, 0.0, 0.0, 0.7070545554161072, 0.7337543964385986, 0.5290959020030456, 0.38380642307320656, 0.5977438746182667, 0.9998158812522888, 0.6610150337219238, 0.6802167892456055, 0.6084033250808716, 0.04097856200435187, -0.0016361459816460135], "mean": [4.130215263401956, -0.786073829863106, 0.7034797361868871, 0.0, 0.0, 0.6971027810181352, 0.7168851822176205, 0.32157527922524104, -0.007677863747964864, 0.43961065805340976, 0.1341230710382925, 0.10013431386139394, 0.07986622047452929, 0.1250050399409892, 0.035053419972839416, -0.035464122610959846], "std": [0.24152105807015609, 0.02690779901748746, 0.00173678064077575, 0.0, 0.0, 0.00796102822908111, 0.007743681890085905, 0.11905523669819436, 0.2597154997615882, 0.0799618821462239, 0.8642758157986286, 0.28647875012980883, 0.3187358049457694, 0.139082629405795, 0.008706727423808585, 0.007880965513547621], "count": [2243]}, "action": {"min": [-0.525, -0.7982142857142857, -0.12571428571428572, 0.0, -1.0, -0.567857142857143, -0.6910714285714286, -0.811607142857143, -0.44857142857142857, -0.44285714285714284, -0.4228571428571429, -1.0], "max": [0.6107142857142858, 0.7714285714285715, 0.04857142857142857, 0.0, 1.0, 0.7848214285714286, 0.7821428571428571, 0.675, 0.3857142857142858, 0.4257142857142857, 0.5857142857142857, 1.0], "mean": [0.007469667537099551, -0.009389927393159673, -0.0013897203999745234, 0.0, -0.8537672759696835, 0.001239570727979098, 0.0022414973568562237, -0.009727883574294587, 0.014320106999554142, -0.0009133176230813419, -0.006305330870645184, -0.36335265269728045], "std": [0.06545723519687749, 0.121794187209859, 0.010538959576612227, 0.0, 0.5206548170172925, 0.22610501031745514, 0.19044187890125802, 0.20264051626833218, 0.07938678504225752, 0.08096881691923821, 0.09888052018531164, 0.9316516783529335], "count": [2243]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007133303675800562], "std": [0.08415711671113968], "count": [2243]}, "next.done": {"min": [false], "max": [true], "mean": [0.00044583147570218456], "std": [0.02111001444806369], "count": [2243]}, "timestamp": {"min": [0.0], "max": [112.1], "mean": [56.05], "std": [32.37491312729657], "count": [2243]}, "frame_index": {"min": [0], "max": [2242], "mean": [1121.0], "std": [647.4982625459314], "count": [2243]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [2243]}, "index": {"min": [92547], "max": [94789], "mean": [93668.0], "std": [647.4982625459314], "count": [2243]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2243]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4805938445310542]], [[0.48275819802241743]], [[0.48547256048137916]]], "std": [[[0.25963326620973587]], [[0.2513915060873277]], [[0.25967053310785054]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5343538025908717]], [[0.45526024143538585]], [[0.40623807788107696]]], "std": [[[0.21464067703030648]], [[0.2440071720913167]], [[0.28253617714982016]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5177997925702263]], [[0.43895520908947294]], [[0.3900023404289694]]], "std": [[[0.20883533674233556]], [[0.24271789908080366]], [[0.2757466603446767]]], "count": [176]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [992]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [992]}, "observation.state": {"min": [0.8769339164036475, -2.345067662576238, 0.6999961889180715, 0.0, 0.0, -1.0, 1.6175100370219297e-07, 0.13722824638023456, -0.3078054147526048, 0.2291122164624706, -0.9899380803108215, -0.069222092628479, -0.24117079377174377, 0.0008674153359606862, -0.0017784858757921716, -0.04077465450401091], "max": [0.8798950754530634, -2.3441036301181333, 0.7124954817496966, 0.0, 0.0, 1.0, 0.0006056500715203583, 0.6181093425681778, 0.5700400113522015, 0.5956896012478058, 0.9848105311393738, 0.9963621497154236, 0.3538692593574524, 0.5909510254859924, 0.041563848551271654, -0.0009208156988074882], "mean": [0.8769907571921914, -2.34426599041438, 0.7070123824323443, 0.0, 0.0, 0.9677419356040416, 8.000395801363848e-05, 0.3603661076917398, 0.1341786912611533, 0.3951468764445486, -0.018179779445715888, 0.8326407014842956, 0.04891441831052963, 0.32502022450012924, 0.03618646311708775, -0.03619221255538084], "std": [0.0001230207195271474, 3.68996300230758e-05, 0.004040077151204957, 0.0, 0.0, 0.25194353699390953, 3.426240249193157e-05, 0.10374270155956533, 0.18592345318970677, 0.08220208535169643, 0.3481751855796269, 0.19374151407694853, 0.12523876112584564, 0.15460174678192834, 0.007501901732437622, 0.008273792058079592], "count": [992]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.44571428571428573, -0.24571428571428575, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8642857142857142, 1.0, 1.0, 0.3914285714285714, 0.6457142857142857, 0.52, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.002584965437788008, 0.06196716589861755, 0.13574308755760373, -0.04566244239631336, 0.09675115207373274, 0.03155241935483869, -0.5625], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4567857930818929, 0.3448731561311781, 0.46557159665603615, 0.13021509757890792, 0.17363867566764282, 0.10784039971704333, 0.8267972847076845], "count": [992]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016129031777381897], "std": [0.12597177922725677], "count": [992]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010080645161290322], "std": [0.03173402467479273], "count": [992]}, "timestamp": {"min": [0.0], "max": [49.55], "mean": [24.775], "std": [14.318279400821876], "count": [992]}, "frame_index": {"min": [0], "max": [991], "mean": [495.5], "std": [286.36558801643747], "count": [992]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [992]}, "index": {"min": [94790], "max": [95781], "mean": [95285.5], "std": [286.36558801643747], "count": [992]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [992]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4581780040268485]], [[0.4487283513630486]], [[0.44354267893893295]]], "std": [[[0.28902472035408683]], [[0.2883123786221125]], [[0.28585017263275925]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5833011138919731]], [[0.5772205561381313]], [[0.5695129881415032]]], "std": [[[0.21469317190271178]], [[0.21381258389345037]], [[0.21238688149080814]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.593900928769096]], [[0.5870935085353776]], [[0.5795167747593263]]], "std": [[[0.21735440526233843]], [[0.21609990303555487]], [[0.21346903467128944]]], "count": [161]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [880]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [880]}, "observation.state": {"min": [5.644257743490554, -3.870629671942214, 0.6999943891207576, 0.0, 0.0, -0.7073627710342407, 0.7068506479263306, 0.1905041399341929, -0.4484917412613276, 0.24468503269323916, -0.9967879056930542, -0.4230939745903015, -0.44742363691329956, 0.00019039529433939606, 0.0012274656036612547, -0.041234297271962365], "max": [5.920898476246768, -3.8670182818828778, 0.7066409861634408, 0.0, 0.0, -0.7068114280700684, 0.7074019908905029, 0.5426680395116898, 0.6891481803947022, 0.6009322100257932, 0.999191403388977, 0.9823645949363708, 0.28062552213668823, 0.7167852520942688, 0.040220070815488555, -0.002174138390536829], "mean": [5.8526687266280595, -3.8675818743647876, 0.7047381333826153, 0.0, 0.0, -0.7071033372797749, 0.7071101760322397, 0.3417143888672015, 0.10043912982748637, 0.40656424041887906, -0.145134560467506, 0.19461363062093204, -0.01021628456907241, 0.16640919183884598, 0.03340039382156503, -0.034294513763378054], "std": [0.11779635061698286, 0.00036899166641931344, 0.0017703133113909269, 0.0, 0.0, 5.431605745096489e-05, 5.430896900389353e-05, 0.09283661257023554, 0.25081978271973354, 0.08213721268167616, 0.858324130121004, 0.3119637409641651, 0.1903195749430348, 0.20736893145594745, 0.010341110604945544, 0.008567697926376287], "count": [880]}, "action": {"min": [-0.05714285714285714, -0.5714285714285715, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7171428571428572, -0.40571428571428575, -0.4257142857142857, -1.0], "max": [0.37142857142857144, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5685714285714286, 0.6857142857142857, 0.6514285714285715, 1.0], "mean": [0.0013555194805194805, -0.013587662337662336, 0.0, 0.0, -0.9386363636363636, 0.001168831168831199, 0.01920454545454544, -0.033498376623376624, -0.0031753246753246805, 0.021724025974025906, 0.048327922077922074, -0.4409090909090909], "std": [0.018640773311390742, 0.07982238931935366, 0.0, 0.0, 0.34490836008931985, 0.44934749876907504, 0.44813354205998435, 0.4145621773999358, 0.16133082566420848, 0.14975609699732922, 0.1794747181940151, 0.8975517665035941], "count": [880]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0181818176060915], "std": [0.13360853493213654], "count": [880]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011363636363636363], "std": [0.03369083427357635], "count": [880]}, "timestamp": {"min": [0.0], "max": [43.95], "mean": [21.975], "std": [12.701697721170977], "count": [880]}, "frame_index": {"min": [0], "max": [879], "mean": [439.5], "std": [254.03395442341954], "count": [880]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [880]}, "index": {"min": [95782], "max": [96661], "mean": [96221.5], "std": [254.03395442341954], "count": [880]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [880]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.489025781466712]], [[0.4717393047290311]], [[0.4689372246140327]]], "std": [[[0.26309522422586806]], [[0.26701346520841207]], [[0.26657286269930874]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5154701139918065]], [[0.35417719741441234]], [[0.3219121551917985]]], "std": [[[0.22194162151800514]], [[0.25739240906456096]], [[0.28204537021819315]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.518439713696923]], [[0.3972564551712788]], [[0.37574668928751825]]], "std": [[[0.23401595964161975]], [[0.2706469279443113]], [[0.2936187519085226]]], "count": [148]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [787]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [787]}, "observation.state": {"min": [2.6545985529858807, -5.5388606391069715, 0.6999929384907997, 0.0, 0.0, -0.7073284983634949, 0.7068850994110107, 0.14015456380177227, -0.5934712427610798, 0.2252315700790123, -0.9999304413795471, -0.9994421601295471, -0.6458433270454407, 0.00022816525597590953, 0.0008438489702724528, -0.041025525532533226], "max": [2.655161327586213, -5.537600477469952, 0.7102676222759664, 0.0, 0.0, -0.7068614363670349, 0.7073521018028259, 0.5217791587493936, 0.23526977705566043, 0.6084849969220342, 0.9999284744262695, 0.9912936687469482, 0.5898700952529907, 0.6689770817756653, 0.04385228671090405, -0.010763419864833423], "mean": [2.6548663718536707, -5.538446404179915, 0.7070045466688476, 0.0, 0.0, -0.7071118557013883, 0.7071016614137187, 0.3708507425725693, -0.13099291742328756, 0.38993232767987523, -0.020007427244897152, 0.11390422395841139, -0.09169979285179648, 0.14353054309355315, 0.036017833950033475, -0.03797405915423341], "std": [4.3804407189096734e-05, 6.991792517225207e-05, 0.003195399174262112, 0.0, 0.0, 4.8718790315655865e-05, 4.87185061829367e-05, 0.07834393436735813, 0.18403334932954463, 0.07711932889126413, 0.7309620237630646, 0.5758417642191492, 0.2622102619947493, 0.1515329044781894, 0.007247023413944461, 0.004048106858914898], "count": [787]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4257142857142857, -0.43428571428571433, -0.4571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.7028571428571428, 0.8542857142857143, 0.72, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0009802141949536987, -0.014476311490288617, -0.05381194409148672, 0.004548919949174067, 0.0343474314757669, 0.06104556180795063, -0.5806861499364676], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46681649490072963, 0.39476897793606297, 0.44627048264148367, 0.15844818574822384, 0.20171010278560164, 0.17545919933602633, 0.8141275055370416], "count": [787]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020330367609858513], "std": [0.14112776517868042], "count": [787]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012706480304955528], "std": [0.035623496236025884], "count": [787]}, "timestamp": {"min": [0.0], "max": [39.3], "mean": [19.65], "std": [11.359357376189905], "count": [787]}, "frame_index": {"min": [0], "max": [786], "mean": [393.0], "std": [227.1871475237981], "count": [787]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [787]}, "index": {"min": [96662], "max": [97448], "mean": [97055.0], "std": [227.1871475237981], "count": [787]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [787]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4742315423254873]], [[0.45777589900820864]], [[0.44051880742989336]]], "std": [[[0.19969032282880803]], [[0.19624862448163244]], [[0.2000221566226937]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39855138975031235]], [[0.36318542302823537]], [[0.34517935117085774]]], "std": [[[0.19484365048663305]], [[0.21454795615195632]], [[0.22237197451342647]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4261272488855848]], [[0.39385228086920343]], [[0.37951371880138624]]], "std": [[[0.2056338595169724]], [[0.22721945606919888]], [[0.23615765204785982]]], "count": [256]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1626]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1626]}, "observation.state": {"min": [0.7393278433564471, -1.7584473124105309, 0.6999984051947111, 0.0, 0.0, -1.0, 8.457556077701156e-08, 0.07332927505827258, -0.4352440427558293, 0.22779976846668504, -0.9982402324676514, -0.8711940050125122, -0.6073246002197266, 1.5980931493686512e-05, 0.0013531128840921977, -0.040609862803168056], "max": [0.8615686114229227, -1.2818570874272752, 0.7095846347003661, 0.0, 0.0, 1.0, 0.010131413117051125, 0.4722239816842168, 0.491779368590308, 0.6129710115405689, 0.9938055276870728, 0.817282497882843, 0.2220791131258011, 0.46843886375427246, 0.04035566401774838, -0.001000860099035096], "mean": [0.7439387409675131, -1.7510434143736133, 0.7044349266850827, 0.0, 0.0, 0.980288049245086, 0.00792752664973994, 0.2808269488731733, -0.14008863568662172, 0.40496089679271485, -0.24017356874977971, 0.006813581166892034, -0.11349494597293677, 0.1148615183627923, 0.03458421351841892, -0.035469776236957976], "std": [0.015365229977478764, 0.055018964177474976, 0.0027198066267721237, 0.0, 0.0, 0.19741284847928556, 0.0008591721632173806, 0.09065739031625346, 0.2537891718734367, 0.09415098474878629, 0.8223568622370606, 0.4420057322326077, 0.1743504901671503, 0.11898735161528334, 0.00969591646560148, 0.008488976954355815], "count": [1626]}, "action": {"min": [-0.46071428571428574, 0.0, -0.08285714285714285, 0.0, -1.0, -0.7875, -0.6696428571428571, -0.7419642857142859, -0.5171428571428571, -0.6257142857142857, -0.9971428571428572, -1.0], "max": [0.5651785714285715, 0.8758928571428571, 0.03428571428571429, 0.0, 1.0, 0.6000000000000001, 0.825, 0.7660714285714286, 0.46857142857142864, 0.35714285714285715, 0.76, 1.0], "mean": [0.0030508697944122303, 0.010244794412229839, -0.00028465998945703734, 0.0, -0.9348093480934809, -0.012475289931470733, 0.0005469161834475436, -0.045626317870321516, 0.006308205939202245, 0.0034809348093480926, -0.0032858900017571596, -0.5424354243542435], "std": [0.04757641718114217, 0.08375975225544191, 0.0044834374456612265, 0.0, 0.3551499439913435, 0.2672563784987675, 0.2847764011363866, 0.22422257582581698, 0.08689867992103253, 0.11343169518857424, 0.18474099044795672, 0.8400975005352738], "count": [1626]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009840098209679127], "std": [0.09870800375938416], "count": [1626]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006150061500615006], "std": [0.024791690492922968], "count": [1626]}, "timestamp": {"min": [0.0], "max": [81.25], "mean": [40.625], "std": [23.46928400413329], "count": [1626]}, "frame_index": {"min": [0], "max": [1625], "mean": [812.5], "std": [469.3856800826658], "count": [1626]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1626]}, "index": {"min": [97449], "max": [99074], "mean": [98261.5], "std": [469.3856800826658], "count": [1626]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1626]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4801227962748977]], [[0.446963237841085]], [[0.4175594304901322]]], "std": [[[0.2610812389876147]], [[0.25472585606176656]], [[0.24572214961260055]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5135925028298955]], [[0.5051154085353968]], [[0.4922084633820976]]], "std": [[[0.22841293660229958]], [[0.22900896260270107]], [[0.22608170343945902]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299236713791085]], [[0.5189951513567542]], [[0.5016224549966221]]], "std": [[[0.22211842803386359]], [[0.2227848548258758]], [[0.2219273320504807]]], "count": [156]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [846]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [846]}, "observation.state": {"min": [6.292201030380121, -0.7994724790100364, 0.6999983639035067, 0.0, 0.0, 0.6838696002960205, 0.7071037292480469, 0.04767102073800189, -0.5297573068897297, 0.2325085544981511, -0.9900497794151306, -0.994019627571106, -0.3434264361858368, 0.0006082113250158727, 0.0006277459340649215, -0.041661509793231195], "max": [6.505321704027657, -0.7748052251416064, 0.7087198065416738, 0.0, 0.0, 0.707109808921814, 0.7296043038368225, 0.46870876563166447, 0.3566559448947393, 0.6377628163743263, 0.9886072278022766, 0.9965665340423584, 0.19725194573402405, 0.6663218140602112, 0.04777262265781472, -0.0007614763481802301], "mean": [6.49973939526382, -0.7764087283469097, 0.7043771850836739, 0.0, 0.0, 0.6849388231481502, 0.7285780691085978, 0.2636009394385469, 0.10349284521928408, 0.4278064597240977, -0.03364837201420619, 0.6848689730391435, -0.07203721281969573, 0.22349081458280307, 0.03443811654669679, -0.03177726665903091], "std": [0.028872087893626962, 0.00325310483302658, 0.0027173634726965308, 0.0, 0.0, 0.004117328630820484, 0.003981760762578613, 0.08949541988723153, 0.264974205062797, 0.1001013354765225, 0.45725318392822817, 0.4683244345207636, 0.11468319101517002, 0.18200078956195717, 0.009690467540598631, 0.01223800203627136], "count": [846]}, "action": {"min": [0.0, -0.7142857142857143, -0.22, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6257142857142857, -0.8257142857142857, -0.6171428571428571, -1.0], "max": [0.9785714285714284, 0.0, 0.02, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2057142857142857, 0.8857142857142857, 0.5971428571428572, 1.0], "mean": [0.020812225599459642, -0.01822863897331983, -0.002465383316447146, 0.0, -0.8699763593380615, -0.04980580884836207, 0.05894123606889575, -0.052507598784194455, -0.012921310368118865, 0.029550827423167877, 0.04065856129685906, -0.38534278959810875], "std": [0.10448138185274743, 0.08963548900773588, 0.018378336470876187, 0.0, 0.4930934335325192, 0.519688030064851, 0.5361536739313004, 0.4525500093409179, 0.10399837229271083, 0.1859997440098072, 0.1917646908541362, 0.9227735011934153], "count": [846]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018912529572844505], "std": [0.1362161785364151], "count": [846]}, "next.done": {"min": [false], "max": [true], "mean": [0.001182033096926714], "std": [0.03436038263297549], "count": [846]}, "timestamp": {"min": [0.0], "max": [42.25], "mean": [21.125], "std": [12.21094966276852], "count": [846]}, "frame_index": {"min": [0], "max": [845], "mean": [422.5], "std": [244.21899325537044], "count": [846]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [846]}, "index": {"min": [99075], "max": [99920], "mean": [99497.5], "std": [244.21899325537044], "count": [846]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [846]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4943267066988405]], [[0.47854574268255323]], [[0.46553859245486373]]], "std": [[[0.2552272400813352]], [[0.25516293997188144]], [[0.2546100651305559]]], "count": [328]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.663798780728618]], [[0.6346282231072271]], [[0.5810249213679791]]], "std": [[[0.2375760777285302]], [[0.24594881671895372]], [[0.24332350251684032]]], "count": [328]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.635169728232137]], [[0.604406316676019]], [[0.5502514326988597]]], "std": [[[0.24526590881416]], [[0.25227610881533685]], [[0.24808203096284479]]], "count": [328]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2267]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2267]}, "observation.state": {"min": [0.7613078677430668, -2.4600399927716676, 0.6999919741435914, 0.0, 0.0, -1.0, 0.0, 0.039185590280510274, -0.4871264319984725, 0.20390441471561493, -0.9998844861984253, -0.8417192101478577, -0.569145917892456, 7.249999180203304e-05, -0.0006826286366331596, -0.04232101978394476], "max": [0.82454399017941, -2.1475521567766864, 0.73959312216353, 0.0, 0.0, 1.0, 0.007646564859896898, 0.4399894272976451, 0.4467314087488683, 0.614748152779743, 0.9998378753662109, 0.8454580307006836, 0.5506709218025208, 0.5467195510864258, 0.041007639393123616, -0.0006294641259752785], "mean": [0.7648352378587522, -2.151906797475439, 0.7237783336398256, 0.0, 0.0, 0.9849927022060635, 0.004332720060092073, 0.25902939067157366, 0.2240012052597337, 0.40972008105373176, -0.3513601485937242, 0.2714888149450102, 0.015256590648995105, 0.13473346891700994, 0.035604477295426616, -0.03458907711099463], "std": [0.006469488983930037, 0.03413949116844451, 0.01188468710323266, 0.0, 0.0, 0.1725409226605908, 0.0005440242494497129, 0.09357107618301234, 0.24842605956626643, 0.10018803034049996, 0.7846036421044407, 0.31005765796484147, 0.2395125360400012, 0.12389155378333143, 0.01028974074046739, 0.010703675598528528], "count": [2267]}, "action": {"min": [-0.5303571428571429, -0.594642857142857, -0.1, 0.0, -1.0, -0.7580357142857144, -0.7205357142857144, -0.9375, -0.38285714285714284, -0.5514285714285714, -0.6542857142857142, -1.0], "max": [0.5357142857142857, 0.0, 0.0, 0.0, 1.0, 0.5785714285714285, 0.8196428571428573, 0.6642857142857143, 0.21714285714285717, 0.36857142857142855, 0.8228571428571428, 1.0], "mean": [0.0024564402293780325, -0.006110971075682149, -0.00020795261201083875, 0.0, -0.9355977062196735, -0.04126087025017339, 0.032523315898922385, -0.13254379608040856, -0.00409477597832251, 0.006044489255781708, 0.0006868737790660931, -0.462726069695633], "std": [0.04477983147288945, 0.05354579606572433, 0.003764246478182165, 0.0, 0.3530678859886428, 0.24737425561564605, 0.2425167270513425, 0.34404407777763035, 0.063498144472242, 0.09050954625690905, 0.13038256335039808, 0.8865013166510457], "count": [2267]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007057785522192717], "std": [0.08371363580226898], "count": [2267]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004411116012351125], "std": [0.020998024235398156], "count": [2267]}, "timestamp": {"min": [0.0], "max": [113.3], "mean": [56.64999999999999], "std": [32.72132332287311], "count": [2267]}, "frame_index": {"min": [0], "max": [2266], "mean": [1133.0], "std": [654.4264664574623], "count": [2267]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [2267]}, "index": {"min": [99921], "max": [102187], "mean": [101054.0], "std": [654.4264664574623], "count": [2267]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2267]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.630113687254621]], [[0.6172194703340584]], [[0.612590919926089]]], "std": [[[0.22006135107371083]], [[0.22688838498015795]], [[0.23311822774686258]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.03529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.487871982222999]], [[0.48448570818081244]], [[0.493580251429911]]], "std": [[[0.29149231366562395]], [[0.29324140813693966]], [[0.2866747069942277]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48502768756890424]], [[0.48266956203142153]], [[0.49289688571268875]]], "std": [[[0.29452540953912404]], [[0.2960211354168248]], [[0.28827162144843427]]], "count": [259]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1651]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1651]}, "observation.state": {"min": [5.349412074661543, -3.9156357585375186, 0.6999967039726337, 0.0, 0.0, -0.7263476848602295, 0.6873274445533752, 0.1153522172925876, -0.39201538484497345, 0.21900443324404728, -0.9948409795761108, -0.6177787184715271, -0.5560592412948608, 4.2853906052187085e-05, 0.0005952778954275797, -0.043268489526061195], "max": [6.043958390259376, -3.825363093142649, 0.7217860593686949, 0.0, 0.0, -0.7071044445037842, 0.7071090340614319, 0.47669276811133887, 0.3647248631294593, 0.6367089305017606, 0.9948493838310242, 0.7573772072792053, 0.38477572798728943, 0.5505770444869995, 0.04064797540688867, 0.0005861481338726869], "mean": [5.837367245990315, -3.902239856894311, 0.7137919825893665, 0.0, 0.0, -0.7196395161800281, 0.6943415373401307, 0.2706620881696158, -0.16034267354007417, 0.391161803631612, -0.22360956939619864, 0.14411469467710827, -0.06458225417284967, 0.12685721819538995, 0.035075116216135294, -0.03778797622246614], "std": [0.31223248196844766, 0.013326451434621994, 0.006816974327801127, 0.0, 0.0, 0.002068095764491678, 0.0021256503157462726, 0.09700293425488585, 0.23642579390361246, 0.08488519035814909, 0.8636737249691059, 0.3039742928718661, 0.2306525060194983, 0.13203346866879093, 0.010454226005576833, 0.006851039769332023], "count": [1651]}, "action": {"min": [-0.5732142857142857, -0.8303571428571429, -0.19142857142857142, 0.0, -1.0, -0.9375, -0.7607142857142858, -0.9375, -0.43428571428571433, -0.4371428571428572, -0.5828571428571429, -1.0], "max": [0.6241071428571429, 0.8169642857142857, 0.13428571428571429, 0.0, 1.0, 0.5330357142857143, 0.7928571428571429, 0.7392857142857142, 0.6428571428571429, 0.40857142857142864, 0.7114285714285714, 1.0], "mean": [0.0035514190533875575, -0.006723198061780743, -0.0006541490006056933, 0.0, -0.8449424591156874, -0.014721597300337437, 0.029772540451674292, -0.0883685212425369, 0.011693346024054673, 0.010018170805572369, 0.006219607164489063, -0.5202907328891581], "std": [0.06805824284158184, 0.11906422745497347, 0.012099264362341478, 0.0, 0.5348572153234296, 0.28569262300091997, 0.2526847286231434, 0.2876942367939033, 0.08478644133191575, 0.09946987838724644, 0.13981915265576697, 0.8539891997383023], "count": [1651]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009691095910966396], "std": [0.09796519577503204], "count": [1651]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006056935190793458], "std": [0.024603387052198545], "count": [1651]}, "timestamp": {"min": [0.0], "max": [82.5], "mean": [41.25], "std": [23.83012798958495], "count": [1651]}, "frame_index": {"min": [0], "max": [1650], "mean": [825.0], "std": [476.602559791699], "count": [1651]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1651]}, "index": {"min": [102188], "max": [103838], "mean": [103013.0], "std": [476.602559791699], "count": [1651]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1651]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.497308781775514]], [[0.4317617273385687]], [[0.3740935457985661]]], "std": [[[0.2083962212282217]], [[0.19303572157366763]], [[0.20629090328671404]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6028999227904883]], [[0.5608726093742491]], [[0.512613753949803]]], "std": [[[0.17595657536934856]], [[0.18761224481616892]], [[0.20932244270083164]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5887824352224805]], [[0.5272423618682818]], [[0.4639602580957194]]], "std": [[[0.16408886413174273]], [[0.17638080400398742]], [[0.1923326238470159]]], "count": [153]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [825]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [825]}, "observation.state": {"min": [2.10109999556797, -0.8201495257058906, 0.6999958912735145, 0.0, 0.0, 0.7062075138092041, 0.7069301605224609, 0.08344223211615664, -0.7061426447885322, 0.2308605356180199, -0.9948763251304626, -0.5900717377662659, -0.4815503656864166, 0.0011409118305891752, -0.0005147228557890004, -0.04343520431471129], "max": [2.1047881577876573, -0.8187628434813836, 0.7070020666743384, 0.0, 0.0, 0.7072833776473999, 0.7080050110816956, 0.4902343673819118, 0.24075304774095563, 0.5973833703275385, 0.9907642602920532, 0.8578168749809265, 0.47635188698768616, 0.7114008069038391, 0.04029512814212, -0.0007303038964932633], "mean": [2.101307155932458, -0.8189246556703925, 0.7037135576096984, 0.0, 0.0, 0.7071007312427867, 0.707112784168937, 0.2963567382628808, -0.12777102980506413, 0.40724328969650053, -0.17634735170638924, 0.18448468164964155, -0.0334326020393443, 0.17901834619146856, 0.03357935705113687, -0.03456881420708213], "std": [0.00013417826358250637, 8.952910953237627e-05, 0.0019356075526921074, 0.0, 0.0, 5.190654733904663e-05, 5.188137329024218e-05, 0.08993813952369406, 0.23617433380737415, 0.07627892438420858, 0.8129536074624097, 0.39803355309976995, 0.19836881286834154, 0.20743009011130223, 0.010007005897439355, 0.009119225076651099], "count": [825]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4257142857142857, -0.5142857142857142, -0.5885714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.9199999999999999, 0.7085714285714285, 0.6028571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019272727272727292, 0.020380952380952392, 0.003497835497835548, 0.038559307359307335, 0.03535930735930742, 0.008834632034632047, -0.3842424242424242], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46817860786285814, 0.4434096018762736, 0.3991087909201567, 0.18083656996170083, 0.16575791380170554, 0.1690977182892064, 0.9232322348208462], "count": [825]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019393939524888992], "std": [0.137905091047287], "count": [825]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012121212121212121], "std": [0.03479442447129048], "count": [825]}, "timestamp": {"min": [0.0], "max": [41.2], "mean": [20.6], "std": [11.907840554301467], "count": [825]}, "frame_index": {"min": [0], "max": [824], "mean": [412.0], "std": [238.15681108602934], "count": [825]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [825]}, "index": {"min": [103839], "max": [104663], "mean": [104251.0], "std": [238.15681108602934], "count": [825]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [825]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5034429061389842]], [[0.47722691018524915]], [[0.45584536001929]]], "std": [[[0.27148441879491536]], [[0.2593734269744207]], [[0.2554736078327028]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6302049436442749]], [[0.620922961554451]], [[0.6073158680088839]]], "std": [[[0.21515468183410968]], [[0.21898745972523762]], [[0.2215623225885371]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6475108119320818]], [[0.6379455493770056]], [[0.6226028042883744]]], "std": [[[0.20880923037945306]], [[0.21430276503194554]], [[0.217469558053867]]], "count": [173]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [970]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [970]}, "observation.state": {"min": [0.7501679956401837, -2.667864563724948, 0.6999945198382597, 0.0, 0.0, -1.0, 0.0, 0.023158327801885314, -0.5283619963498909, 0.2302472136393564, -0.9890705943107605, -0.9985857605934143, -0.7220134139060974, 0.0009919946314767003, 0.0013645133410471087, -0.040617750926281296], "max": [0.7735575447944397, -2.208358728613315, 0.7083966206523843, 0.0, 0.0, 1.0, 0.014986991882324219, 0.4256887579913497, 0.4360541990933511, 0.6427076546013961, 0.9892591834068298, 0.9991451501846313, 0.4923301935195923, 0.5746449828147888, 0.04072814076321793, -0.0004464492350480297], "mean": [0.7514244205597501, -2.223891031118742, 0.7056133137015701, 0.0, 0.0, 0.979336056021071, 0.009395354697294023, 0.23610297133343636, 0.13926561873817314, 0.4378935486898372, 0.12031239629723131, 0.3894577546218007, -0.062073959432644786, 0.18781535376617012, 0.03486917043273991, -0.03497726099744802], "std": [0.003943527846736309, 0.07111486146843402, 0.003041321510297027, 0.0, 0.0, 0.2020151392754342, 0.0015994601825874782, 0.09280988830162101, 0.26504524136725344, 0.10023663248219848, 0.5496687627060687, 0.6475724195760335, 0.2175495897632103, 0.16095400980203278, 0.009135822286699688, 0.00944305045329761], "count": [970]}, "action": {"min": [0.0, -0.7142857142857143, -0.06857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.8114285714285715, -0.5, -0.38857142857142857, -1.0], "max": [0.4357142857142858, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.20857142857142857, 0.5571428571428572, 0.4028571428571428, 1.0], "mean": [0.017209131075110448, -0.030265095729013255, -0.0024182621502209134, 0.0, -0.8494845360824742, 0.026303387334315184, -0.006936671575846829, -0.0029749631811487416, -0.04273048600883655, 0.030954344624447717, -0.017452135493372628, -0.465979381443299], "std": [0.07440079610260406, 0.12400571610467044, 0.011003934560615143, 0.0, 0.5276135166547092, 0.44754421435066255, 0.5200414899408173, 0.44525939600746267, 0.1500829168067645, 0.1514460288744876, 0.1468740594722226, 0.8847955786901902], "count": [970]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01649484597146511], "std": [0.12736861407756805], "count": [970]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010309278350515464], "std": [0.03209151013664614], "count": [970]}, "timestamp": {"min": [0.0], "max": [48.45], "mean": [24.225], "std": [14.00073658776566], "count": [970]}, "frame_index": {"min": [0], "max": [969], "mean": [484.5], "std": [280.01473175531316], "count": [970]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [970]}, "index": {"min": [104664], "max": [105633], "mean": [105148.5], "std": [280.01473175531316], "count": [970]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [970]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38028111811213494]], [[0.3500540056669185]], [[0.33900949704867606]]], "std": [[[0.2516286838931833]], [[0.24579847389895684]], [[0.24264855199956456]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5799924161434965]], [[0.5176414914869107]], [[0.4672300214293102]]], "std": [[[0.20823559474956818]], [[0.2087627816280234]], [[0.20700202825145053]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6353783085693008]], [[0.5505669014549234]], [[0.48629954997204566]]], "std": [[[0.17158257534883323]], [[0.19893278005970935]], [[0.20871384154589806]]], "count": [177]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [994]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [994]}, "observation.state": {"min": [0.7957830241687703, -5.745512585054894, 0.6999960010657077, 0.0, 0.0, -1.0, 2.87532520815148e-06, 0.13899713066321262, -0.66215925579258, 0.22299068323555926, -0.9854629039764404, -0.9976441860198975, -0.4668695330619812, 4.855378938373178e-05, 0.008066181624265688, -0.042258993253691396], "max": [0.7981362129064828, -5.745097727421507, 0.7152242112136581, 0.0, 0.0, 1.0, 0.00031107215909287333, 0.5684012785612258, 0.17679642417438135, 0.6340633772823957, 0.985702633857727, 0.9982737302780151, 0.488920122385025, 0.7134969830513, 0.041227266675390645, 0.0014999707868692369], "mean": [0.7960957215048529, -5.745241412298435, 0.707900642537159, 0.0, 0.0, 0.9758551307847082, 0.00014786562432620497, 0.3581925784134835, -0.037370292220770845, 0.3853880036976176, 0.1736492874379073, 0.3935772614849645, 0.03314856194137937, 0.2841806209494234, 0.03495940077202602, -0.03331323742457546], "std": [0.00012965571256483315, 3.28645803766192e-05, 0.005584136198875814, 0.0, 0.0, 0.21841878060542375, 3.925879550734161e-05, 0.09695435138017293, 0.262248346975851, 0.08056499325425237, 0.545214459530315, 0.5919531939775332, 0.21556365640503916, 0.19735836563366668, 0.009721865019454974, 0.012383021504828355], "count": [994]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.46857142857142864, -0.2571428571428571, -0.4028571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.3457142857142857, 0.6914285714285714, 0.4, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03274647887323944, -0.009794481172750781, 0.059492670307559704, -0.0025898246622592597, 0.0991118137395804, 0.04469100316182802, -0.48088531187122735], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5200835224010556, 0.45244355523327323, 0.4589753925355167, 0.10909339962550074, 0.19125171356506954, 0.14979810936019475, 0.8767835062468509], "count": [994]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016096578910946846], "std": [0.12584704160690308], "count": [994]}, "next.done": {"min": [false], "max": [true], "mean": [0.001006036217303823], "std": [0.031702115204403886], "count": [994]}, "timestamp": {"min": [0.0], "max": [49.65], "mean": [24.825], "std": [14.347146928919353], "count": [994]}, "frame_index": {"min": [0], "max": [993], "mean": [496.5], "std": [286.94293857838704], "count": [994]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [994]}, "index": {"min": [105634], "max": [106627], "mean": [106130.5], "std": [286.94293857838704], "count": [994]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [994]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5954056105540427]], [[0.571024293601355]], [[0.5508218879477335]]], "std": [[[0.22445008690538074]], [[0.23154746562635856]], [[0.2487851479531191]]], "count": [296]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4677188198087578]], [[0.4647776008852588]], [[0.47423386323622563]]], "std": [[[0.287947185157678]], [[0.2892012557897311]], [[0.28248099700726437]]], "count": [296]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4690006601791503]], [[0.466521096242188]], [[0.475796909665834]]], "std": [[[0.2865906690020127]], [[0.2881201070113567]], [[0.2812384131406863]]], "count": [296]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1980]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1980]}, "observation.state": {"min": [5.376367269662062, -3.9042458846586294, 0.6999961850281139, 0.0, 0.0, -0.7617610096931458, 0.6478581428527832, -0.03219195818543685, -0.6047588307288763, 0.21111298480545115, -0.9951586723327637, -0.9786160588264465, -0.6417303681373596, 0.0001287418999709189, -0.0032613688310827314, -0.04149958536105126], "max": [5.861216204076111, -3.7950269802333017, 0.7395215753516771, 0.0, 0.0, -0.68636554479599, 0.7272566556930542, 0.5232223592194969, 0.41883773453067263, 0.5914959004898965, 0.9961904287338257, 0.989277720451355, 0.6381204128265381, 0.7206339836120605, 0.04064646252564133, 0.0020425600688438175], "mean": [5.805297337625773, -3.8145129942573637, 0.719474626541096, 0.0, 0.0, -0.7063561339872052, 0.7075063229209245, 0.24408037093869203, -0.19577542521055674, 0.4084513894973105, 0.1968797213201506, 0.24321767360799842, 0.02064520830001607, 0.19150847961920056, 0.024998810557756664, -0.026369951988239385], "std": [0.08928511138070136, 0.019041528014883964, 0.014395644401681956, 0.0, 0.0, 0.01564785293546807, 0.015841693688027122, 0.13621525552877026, 0.25293069383837297, 0.08507750668796657, 0.7449526905454803, 0.4203339379899644, 0.3043319935715645, 0.20181358907483507, 0.016973094375056032, 0.016025927257485292], "count": [1980]}, "action": {"min": [-0.46428571428571436, 0.0, -0.18285714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7028571428571428, -0.7771428571428571, -0.6742857142857143, -1.0], "max": [0.0, 0.45714285714285713, 0.19714285714285715, 0.0, 1.0, 0.6785714285714286, 1.0, 1.0, 0.4571428571428572, 0.7342857142857143, 0.5514285714285714, 1.0], "mean": [-0.006428571428571429, 0.012803030303030304, -0.0004992784992784999, 0.0, -0.9202020202020202, -0.053495670995671006, -0.0692784992784994, -0.050371572871572755, 0.004985569985569955, -0.014906204906204928, 0.007963924963924956, -0.13535353535353536], "std": [0.04372798500789851, 0.06597696854483454, 0.02318839491925052, 0.0, 0.3914437916433601, 0.38730108829575116, 0.36394590572480806, 0.35917781156057016, 0.13760795053290245, 0.17620723701910782, 0.14994637238766986, 0.9907973659973709], "count": [1980]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008080808445811272], "std": [0.0895293802022934], "count": [1980]}, "next.done": {"min": [false], "max": [true], "mean": [0.000505050505050505], "std": [0.022467652949025477], "count": [1980]}, "timestamp": {"min": [0.0], "max": [98.95], "mean": [49.475], "std": [28.57883467999818], "count": [1980]}, "frame_index": {"min": [0], "max": [1979], "mean": [989.5], "std": [571.5766935999636], "count": [1980]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1980]}, "index": {"min": [106628], "max": [108607], "mean": [107617.5], "std": [571.5766935999636], "count": [1980]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1980]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.451930752358703]], [[0.44317434057013394]], [[0.44353429223178165]]], "std": [[[0.2794306133590483]], [[0.25795616454454645]], [[0.26915720170473084]]], "count": [199]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5758283019171571]], [[0.5677097084134867]], [[0.5593851523794486]]], "std": [[[0.22634665694115066]], [[0.22436732797778167]], [[0.2249215191807645]]], "count": [199]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5591730102575146]], [[0.5590238406724184]], [[0.5562329394439839]]], "std": [[[0.23398372105000312]], [[0.22188056352452695]], [[0.2218441203398084]]], "count": [199]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1164]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1164]}, "observation.state": {"min": [0.8004557927426348, -3.5696123494766323, 0.699997228563885, 0.0, 0.0, -1.0, 0.0, 0.08566411808810714, -0.6241678781928446, 0.23392313691931665, -0.9957796335220337, -0.9580404162406921, -0.4116583466529846, 5.794929529656656e-05, 0.0007318545109297402, -0.04069423225947312], "max": [0.8018697890915462, -3.5688532379581464, 0.7102929974274238, 0.0, 0.0, 1.0, 0.0009072018438018858, 0.5243523237682912, 0.6567625073634686, 0.6000905267277136, 0.996795117855072, 0.9683350324630737, 0.3556593358516693, 0.6551107168197632, 0.04342897602291755, -0.0010674644046101322], "mean": [0.800754438020143, -3.568908962163268, 0.7045263038273406, 0.0, 0.0, -0.09278350238947525, 2.6934263652210632e-05, 0.2865390304435895, -0.0886204390746034, 0.41524255024246354, -0.45974440062357574, 0.1681676188490235, -0.10296871435669336, 0.13267373976205876, 0.0362449672890531, -0.03745307495239014], "std": [4.963853230898501e-05, 6.560249592315641e-05, 0.003111319594178967, 0.0, 0.0, 0.9956863040908086, 8.447452025187163e-05, 0.10622242375730892, 0.3062989367756218, 0.09128605907063739, 0.7150726994423484, 0.3961344967307711, 0.1654644955617301, 0.19110168746000208, 0.007718882021916522, 0.005725363668297638], "count": [1164]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.44, -0.41428571428571437, -0.54, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 1.0, 1.0, 0.6742857142857143, 0.8857142857142857, 0.7, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009032891507118305, -0.02814801178203242, -0.028823024054982896, 0.025216003927344122, 0.021946489936180664, -0.0030756013745704405, -0.4381443298969072], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.37997330434075804, 0.3892949419597059, 0.3719180785939582, 0.13489748771103865, 0.15065811054156988, 0.1348405118542713, 0.8989046368659996], "count": [1164]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013745704665780067], "std": [0.11643350124359131], "count": [1164]}, "next.done": {"min": [false], "max": [true], "mean": [0.000859106529209622], "std": [0.02929792595357377], "count": [1164]}, "timestamp": {"min": [0.0], "max": [58.15], "mean": [29.075000000000003], "std": [16.80088663334964], "count": [1164]}, "frame_index": {"min": [0], "max": [1163], "mean": [581.5], "std": [336.01773266699286], "count": [1164]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1164]}, "index": {"min": [108608], "max": [109771], "mean": [109189.5], "std": [336.01773266699286], "count": [1164]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1164]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5010109757488682]], [[0.4781938071194684]], [[0.45410965431111694]]], "std": [[[0.24849860333714194]], [[0.2421512837133456]], [[0.2346995691994441]]], "count": [281]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553978036049064]], [[0.5161745981364562]], [[0.47450221381594365]]], "std": [[[0.2586959406276025]], [[0.27536279771085714]], [[0.28560326803403613]]], "count": [281]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.572302865559487]], [[0.5507894957725222]], [[0.5213940986759473]]], "std": [[[0.2766481337894845]], [[0.2855001338711027]], [[0.2877309072937983]]], "count": [281]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1844]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1844]}, "observation.state": {"min": [0.7959208746480567, -1.4281414069049176, 0.6999967741100009, 0.0, 0.0, -1.0, 9.094036101942038e-08, -0.12777435616461097, -0.5189218997777701, 0.20862552283745572, -0.9973589777946472, -0.9988404512405396, -0.5986338257789612, 0.0002989164786413312, -3.814213283755672e-05, -0.05452255816866608], "max": [0.8994548092145147, -1.019282200142913, 0.7247762709831544, 0.0, 0.0, 1.0, 0.001949611003510654, 0.4378447410956954, 0.4379820019844374, 0.7802464336847652, 0.9992397427558899, 0.9987525939941406, 0.5771813988685608, 0.882197380065918, 0.04105221084815473, 0.0013364046572670373], "mean": [0.8007739032562405, -1.4218523438671855, 0.7129652764968184, 0.0, 0.0, -0.9761374954158468, 0.0016319129854054713, 0.2522251487518384, -0.2832186263385319, 0.4446928093439288, 0.029126164454405162, 0.39322743905655666, -0.08723981529075867, 0.19940819134227397, 0.02842954771003109, -0.03184194553993478], "std": [0.008811375548860866, 0.04525739414860884, 0.007447796913084301, 0.0, 0.0, 0.21714720076887462, 0.00020506125365524325, 0.11446034626563005, 0.23322594363957444, 0.10952623209789826, 0.6712949994345699, 0.5160796700757596, 0.2092795992525051, 0.190725668947457, 0.01530172066208111, 0.013772684160813889], "count": [1844]}, "action": {"min": [-0.9071428571428573, -0.07142857142857144, -0.02, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7685714285714286, -0.40571428571428575, -0.88, -1.0], "max": [0.8928571428571429, 1.0, 0.0, 0.0, 1.0, 0.8214285714285715, 1.0, 1.0, 0.43428571428571433, 0.9714285714285715, 0.6228571428571429, 1.0], "mean": [0.002564301208552835, 0.007150604276417725, -2.634025410598079e-05, 0.0, -0.938177874186551, -0.0004067245119306193, -0.0030291292221877567, -0.057046017973349815, 0.015111558723272366, 0.04572668112798263, -0.016458010536101648, -0.1822125813449024], "std": [0.0648488617185797, 0.07403031967203096, 0.0006341586048962436, 0.0, 0.34615354452440694, 0.3616249974990301, 0.3705286039704687, 0.4127296473407104, 0.1013192656992843, 0.1902826587416046, 0.16527618127651533, 0.9832591597334045], "count": [1844]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008676789700984955], "std": [0.09274428337812424], "count": [1844]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005422993492407809], "std": [0.02328100643564607], "count": [1844]}, "timestamp": {"min": [0.0], "max": [92.15], "mean": [46.075], "std": [26.61584349593302], "count": [1844]}, "frame_index": {"min": [0], "max": [1843], "mean": [921.5], "std": [532.3168699186604], "count": [1844]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1844]}, "index": {"min": [109772], "max": [111615], "mean": [110693.5], "std": [532.3168699186604], "count": [1844]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1844]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45694649456243785]], [[0.43567028259533525]], [[0.41646868151276584]]], "std": [[[0.25603344621608565]], [[0.2432504402350406]], [[0.2401520496848398]]], "count": [313]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6545558136775889]], [[0.6371821321715524]], [[0.6196436718025057]]], "std": [[[0.2175863390664493]], [[0.21482628868402046]], [[0.213948800651799]]], "count": [313]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6298489191191153]], [[0.6101960798078466]], [[0.5920127275525825]]], "std": [[[0.23648324207761176]], [[0.2320067690394987]], [[0.22966011561371152]]], "count": [313]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2128]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2128]}, "observation.state": {"min": [2.2726192405450254, -5.115220875959357, 0.6999942203454997, 0.0, 0.0, -7.172915047704009e-06, 0.9998911619186401, 0.1021331377495458, -0.40537488947125944, 0.2360516194640938, -0.9996284246444702, -0.4013191759586334, -0.5686922669410706, 1.805979809432756e-05, 4.151775166187871e-05, -0.05228063684814836], "max": [2.282845113169973, -4.633344632424315, 0.7174429352586049, 0.0, 0.0, 0.014753244817256927, 1.0, 0.4965122769424801, 0.3999478329528774, 0.6303043294498751, 0.9995899796485901, 0.6772711277008057, 0.3073709309101105, 0.6506804823875427, 0.040676862731953575, 1.9416063039949514e-05], "mean": [2.276462094677387, -4.647013198710163, 0.7084736222519037, 0.0, 0.0, 0.008347267203799224, 0.9999588019305602, 0.2747382748270112, -0.2363336865216773, 0.40541063306931063, -0.2055837940004535, 0.05266637102914344, -0.09340007742506894, 0.12431201296697464, 0.031144039827865705, -0.03410727193770362], "std": [0.002087388696790085, 0.05558039023693093, 0.005769966542896784, 0.0, 0.0, 0.0035731152588907565, 3.278968756642682e-05, 0.09161580672050916, 0.21414525890767175, 0.09331849759563833, 0.897947717764639, 0.2218463880216104, 0.22690784984710283, 0.15417981143468062, 0.014083597978767612, 0.011705910670395522], "count": [2128]}, "action": {"min": [-0.23571428571428574, 0.0, 0.0, 0.0, -1.0, -0.6482142857142857, -0.7392857142857142, -0.7285714285714285, -0.29428571428571426, -0.5285714285714286, -0.4028571428571428, -1.0], "max": [0.0642857142857143, 0.6080357142857142, 0.08285714285714285, 0.0, 1.0, 0.4875000000000001, 0.75, 0.6669642857142857, 0.52, 0.37714285714285717, 0.4828571428571429, 1.0], "mean": [-0.0010472610096670246, 0.009386328544575728, 0.0002027389903329753, 0.0, -0.9464285714285714, -0.013324885875402804, -0.011224070220193323, -0.05784732478517717, 0.008759398496240597, 0.004696562835660579, 0.0027215359828141796, -0.3975563909774436], "std": [0.014992426255861701, 0.06729636949800323, 0.003440837597751969, 0.0, 0.32291323785759574, 0.22933553263090042, 0.22742713082087654, 0.23219567270297142, 0.06561061001247195, 0.08534560879427094, 0.08929798425458892, 0.9175777438413354], "count": [2128]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007518797181546688], "std": [0.08638440817594528], "count": [2128]}, "next.done": {"min": [false], "max": [true], "mean": [0.00046992481203007516], "std": [0.02167265518345903], "count": [2128]}, "timestamp": {"min": [0.0], "max": [106.35], "mean": [53.175000000000004], "std": [30.715030929497694], "count": [2128]}, "frame_index": {"min": [0], "max": [2127], "mean": [1063.5], "std": [614.3006185899538], "count": [2128]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [2128]}, "index": {"min": [111616], "max": [113743], "mean": [112679.5], "std": [614.3006185899538], "count": [2128]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2128]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6016252013120341]], [[0.5872809218502014]], [[0.5736553006983003]]], "std": [[[0.20982820371246774]], [[0.21138912810054644]], [[0.22097152153825678]]], "count": [244]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5362372626142462]], [[0.5335599175222968]], [[0.537887477844101]]], "std": [[[0.2674447722199316]], [[0.26880571767978684]], [[0.2655330937774595]]], "count": [244]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5407263103155261]], [[0.5380566044276798]], [[0.5418352448951772]]], "std": [[[0.2585847642362204]], [[0.2596039749349217]], [[0.2566933936471615]]], "count": [244]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1527]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1527]}, "observation.state": {"min": [0.7651601118875009, -3.5666726856109583, 0.6999963363825384, 0.0, 0.0, -1.0, 8.238263404791724e-08, 0.09170263836681047, -0.30356175439169153, 0.2380612925845219, -0.9948523640632629, -0.5831950306892395, -0.5554195046424866, 4.7551053285133094e-05, 0.00035349563800621703, -0.041416536040872136], "max": [0.8499614226209554, -3.0256528931835796, 0.7313664636335664, 0.0, 0.0, 1.0, 0.05149618908762932, 0.48295057483712733, 0.33932403539629297, 0.6163008133224563, 0.9957404136657715, 0.6917968392372131, 0.5701906681060791, 0.5925286412239075, 0.04195604160444182, -0.0006137199915049378], "mean": [0.772970977921038, -3.172559531922898, 0.7160652722271567, 0.0, 0.0, 0.9825734878257747, 0.026196169696033854, 0.2549224939748117, 0.10911523413812614, 0.3990388728206623, 0.06952671463690947, 0.07834609589626684, 0.06832663158571806, 0.13117039727894414, 0.03687469818857105, -0.034768531129380977], "std": [0.011995199658937788, 0.23459712435373112, 0.008944976398547301, 0.0, 0.0, 0.18371247593675924, 0.010623509202809361, 0.08510529633471212, 0.20426137298138147, 0.09199723747020366, 0.8800393904429151, 0.32732194866579245, 0.24848543021742217, 0.15427160649600527, 0.006822748896072602, 0.009725470912769272], "count": [1527]}, "action": {"min": [-0.6294642857142857, -0.6455357142857143, -0.24571428571428575, 0.0, -1.0, -0.8276785714285715, -0.8035714285714287, -0.9375, -0.6057142857142859, -0.3942857142857143, -0.68, -1.0], "max": [0.5571428571428572, 0.8598214285714285, 0.1457142857142857, 0.0, 1.0, 0.6375000000000001, 0.7017857142857142, 0.9348214285714286, 0.36857142857142855, 0.9314285714285714, 0.7857142857142858, 1.0], "mean": [0.004252034802133034, 0.006583286556272805, -0.0016297127888483484, 0.0, -0.8716437459070072, -0.02095495369071007, 0.009056623631770972, -0.10940043502666254, -0.025332584900364878, 0.0274731031901955, -0.009239404995790089, -0.5468238375900458], "std": [0.06989103317846686, 0.10728675402177734, 0.01919990327931827, 0.0, 0.49013995982903236, 0.2838302585324061, 0.2448099636064143, 0.356059745573431, 0.11820876305865292, 0.1469136726851723, 0.16143863499406774, 0.8372476877503463], "count": [1527]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010478061623871326], "std": [0.10182470828294754], "count": [1527]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006548788474132286], "std": [0.025582220019154694], "count": [1527]}, "timestamp": {"min": [0.0], "max": [76.3], "mean": [38.15], "std": [22.04034180013247], "count": [1527]}, "frame_index": {"min": [0], "max": [1526], "mean": [763.0], "std": [440.8068360026494], "count": [1527]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1527]}, "index": {"min": [113744], "max": [115270], "mean": [114507.0], "std": [440.8068360026494], "count": [1527]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1527]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39453771702896223]], [[0.36757710365421614]], [[0.35510634766872445]]], "std": [[[0.2593248097998863]], [[0.2556205411663889]], [[0.25621990860162386]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397097379332751]], [[0.38889730959900376]], [[0.36796147174181026]]], "std": [[[0.22835313232004695]], [[0.24577117370964263]], [[0.238685569991607]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5996512877954076]], [[0.4489920207867413]], [[0.4163935625074223]]], "std": [[[0.2136142850059149]], [[0.26024511676361695]], [[0.252552070694114]]], "count": [307]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2078]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2078]}, "observation.state": {"min": [3.681951307303144, -0.8703365550981552, 0.6999980116091641, 0.0, 0.0, 0.6861647963523865, 0.7071407437324524, 0.12584561501667468, -0.3988513418950608, 0.22374119223113909, -0.9933388829231262, -0.6578220725059509, -0.5950130820274353, 1.398955919285072e-05, 0.0005159623212997368, -0.04090693827229415], "max": [4.257759403089592, -0.7953945347316564, 0.7152344068240386, 0.0, 0.0, 0.7070727944374084, 0.7274460792541504, 0.5174497878100528, 0.264656754285423, 0.6095017495557362, 0.9896991848945618, 0.7187549471855164, 0.22235126793384552, 0.6221813559532166, 0.04012057668257284, 0.001044653209741936], "mean": [3.8358069021244017, -0.8368238966083148, 0.7085709919405678, 0.0, 0.0, 0.699808605510071, 0.7142734421745186, 0.29963450434272987, -0.1821375132725298, 0.4002641701930051, -0.3883425760315059, 0.04472775383708107, -0.16006732005999286, 0.13904449208553926, 0.033070952601097506, -0.033349525568348186], "std": [0.24580465091955583, 0.02132544970336995, 0.005036035259522215, 0.0, 0.0, 0.006473746868613887, 0.006280915794695498, 0.09888264925962176, 0.19233149737876962, 0.08724765337223239, 0.8033352574835326, 0.2882037620922847, 0.228241371923798, 0.14741602958535013, 0.011237033117685476, 0.011520280327913966], "count": [2078]}, "action": {"min": [-0.5598214285714286, -0.7098214285714286, -0.1, 0.0, -1.0, -0.6883928571428571, -0.6133928571428572, -0.9375, -0.3485714285714286, -0.39714285714285713, -0.41428571428571437, -1.0], "max": [0.8651785714285715, 0.6616071428571428, 0.037142857142857144, 0.0, 1.0, 0.5571428571428572, 0.7955357142857143, 0.7714285714285715, 0.2914285714285714, 0.4, 0.4971428571428572, 1.0], "mean": [0.00942398253815482, -0.003718805857280351, -0.0008483431871304827, 0.0, -0.8537054860442733, -0.00744534579953251, 0.020621648563178867, -0.055013835418671775, 0.003541867179980745, 0.004223841605939777, 0.001233328750171875, -0.39268527430221367], "std": [0.08706950030435733, 0.0943980420520851, 0.007636792509039665, 0.0, 0.5207561263181648, 0.22254285057183246, 0.208709517676727, 0.24028555636628904, 0.05502377174079617, 0.08868473446797688, 0.10679029571224675, 0.9196729175887348], "count": [2078]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007699711248278618], "std": [0.08740953356027603], "count": [2078]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048123195380173246], "std": [0.021931720625805277], "count": [2078]}, "timestamp": {"min": [0.0], "max": [103.85], "mean": [51.925000000000004], "std": [29.99334301140838], "count": [2078]}, "frame_index": {"min": [0], "max": [2077], "mean": [1038.5], "std": [599.8668602281676], "count": [2078]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [2078]}, "index": {"min": [115271], "max": [117348], "mean": [116309.5], "std": [599.8668602281676], "count": [2078]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2078]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39113469503575915]], [[0.3773832526965919]], [[0.3780295433957888]]], "std": [[[0.27056706384230966]], [[0.2557433657634655]], [[0.2590294806378765]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.054901960784313725]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6098148693193779]], [[0.5198316002665142]], [[0.487035020286484]]], "std": [[[0.20761698049556487]], [[0.23309960213900607]], [[0.23309039215300503]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.07058823529411765]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6061957877572074]], [[0.5086780930442948]], [[0.48067424906633394]]], "std": [[[0.18979133961302147]], [[0.23103160042334647]], [[0.23411996910494198]]], "count": [179]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1016]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1016]}, "observation.state": {"min": [1.7174793964208148, -0.9084271108065505, 0.699996970412469, 0.0, 0.0, 0.7050793170928955, 0.7065221071243286, 0.1707674497903453, -0.33200492059841324, 0.23249220821624428, -0.9862780570983887, -0.9956972002983093, -0.7519978284835815, 5.617639180854894e-05, 0.0005444981834654926, -0.04076363840632033], "max": [1.721992564610433, -0.8960564993993643, 0.7089205135362896, 0.0, 0.0, 0.7076908946037292, 0.7091284990310669, 0.5385472812649268, 0.4505631205803289, 0.6132517815068427, 0.987644374370575, 0.9951459765434265, 0.1544162631034851, 0.6704007983207703, 0.040499619683912934, -0.0009640450358637462], "mean": [1.7200184035379251, -0.9051234812867686, 0.706520661321211, 0.0, 0.0, 0.7064344427130353, 0.707777520509686, 0.34958574133714926, 0.06828227530162015, 0.3771170647896158, -0.2444164801377979, 0.4737153469665548, -0.25934666111192284, 0.191926715938133, 0.03294543274729451, -0.03354547078497807], "std": [0.0014071374417349155, 0.004213018487565813, 0.003027773206326495, 0.0, 0.0, 0.0008245679874632686, 0.0008229179550591402, 0.09293756280455596, 0.17526515977429827, 0.07222731550881412, 0.481514923842054, 0.5471504895120053, 0.2335765290014625, 0.1611506460713893, 0.011596635508865883, 0.011018884934513832], "count": [1016]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5028571428571429, -0.4314285714285714, -0.43428571428571433, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.16857142857142857, 0.8857142857142857, 0.4228571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.029654105736782906, 0.04902980877390327, 0.06782902137232844, -0.02393700787401575, 0.07642575928008995, 0.03444038245219346, -0.43700787401574803], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.45420243088112094, 0.30812743217333377, 0.4063743403118388, 0.1118846075368629, 0.17534935627503453, 0.09504162432235087, 0.899457679965116], "count": [1016]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015748031437397003], "std": [0.1244991198182106], "count": [1016]}, "next.done": {"min": [false], "max": [true], "mean": [0.000984251968503937], "std": [0.03135734709069684], "count": [1016]}, "timestamp": {"min": [0.0], "max": [50.75], "mean": [25.375], "std": [14.664689734188036], "count": [1016]}, "frame_index": {"min": [0], "max": [1015], "mean": [507.5], "std": [293.2937946837607], "count": [1016]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1016]}, "index": {"min": [117349], "max": [118364], "mean": [117856.5], "std": [293.2937946837607], "count": [1016]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1016]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5247826673989352]], [[0.5014363412988152]], [[0.4744948775443368]]], "std": [[[0.23620798020634892]], [[0.23603992542269506]], [[0.23960458315275288]]], "count": [281]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.499479829573796]], [[0.41117504945845107]], [[0.3373111274734677]]], "std": [[[0.20866506688024455]], [[0.24031218044685337]], [[0.2710445865966355]]], "count": [281]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5005300882664356]], [[0.4110363666464417]], [[0.3392675778694624]]], "std": [[[0.20987726428688583]], [[0.24419009277080164]], [[0.27729564706647947]]], "count": [281]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1844]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1844]}, "observation.state": {"min": [5.814031878464797, -3.902195112941941, 0.6999972234388012, 0.0, 0.0, -0.707268238067627, 0.7069453597068787, 0.023761801120519177, -0.6379586256091274, 0.23285172251202313, -0.9984686374664307, -0.5941108465194702, -0.7399849891662598, 5.876991508557694e-06, 2.2184747424305322e-05, -0.04446039241011994], "max": [6.043550867780624, -3.897951302198952, 0.7160080719836622, 0.0, 0.0, -0.706780731678009, 0.707432746887207, 0.49729996495720385, 0.47383233201823227, 0.6070871578641588, 0.999795138835907, 0.7630406618118286, 0.7046582102775574, 0.4541804790496826, 0.04121167331391196, 0.0007198473689963864], "mean": [5.991830485260416, -3.89901843587663, 0.7109454321513926, 0.0, 0.0, -0.7071129125330815, 0.707100605822437, 0.2785142484616974, -0.09198401631516602, 0.41021660714685604, -0.02427347440781666, -0.034337249999651744, -0.0633069477849294, 0.08095459252404012, 0.03442019737463145, -0.03533179323373928], "std": [0.09480705150961365, 0.0016801971027159718, 0.0037955537979309784, 0.0, 0.0, 4.4981308780895054e-05, 4.497166297925147e-05, 0.10858825084139054, 0.2795844180637474, 0.08313186714531176, 0.9010412123032121, 0.2916046380552175, 0.2866930771901222, 0.0925682535572292, 0.010856171022814434, 0.010089246193976322], "count": [1844]}, "action": {"min": [-0.03214285714285715, -0.4901785714285714, 0.0, 0.0, -1.0, -0.9214285714285715, -0.7982142857142857, -0.9375, -0.6485714285714286, -0.6457142857142857, -0.5114285714285715, -1.0], "max": [0.17142857142857143, 0.0, 0.0, 0.0, 1.0, 0.6321428571428571, 0.8491071428571428, 0.8812500000000001, 0.31142857142857144, 0.7028571428571428, 0.62, 1.0], "mean": [0.0021629028509451502, -0.007361713665943601, 0.0, 0.0, -0.9349240780911063, -0.03363321196157421, 0.028443116671831466, -0.1333547993492406, -0.006932135110009298, -0.010841338704679253, -0.004797025100712735, -0.5390455531453362], "std": [0.01630632119734828, 0.05292178701000298, 0.0, 0.0, 0.3548478099206703, 0.31466054461296566, 0.2854322589840313, 0.34775952097414153, 0.0853556428726495, 0.12420151990415074, 0.13326086224659622, 0.8422766123039466], "count": [1844]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008676789700984955], "std": [0.09274428337812424], "count": [1844]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005422993492407809], "std": [0.02328100643564607], "count": [1844]}, "timestamp": {"min": [0.0], "max": [92.15], "mean": [46.075], "std": [26.61584349593302], "count": [1844]}, "frame_index": {"min": [0], "max": [1843], "mean": [921.5], "std": [532.3168699186604], "count": [1844]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1844]}, "index": {"min": [118365], "max": [120208], "mean": [119286.5], "std": [532.3168699186604], "count": [1844]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1844]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4895418265872954]], [[0.4709836830653872]], [[0.4463371378783571]]], "std": [[[0.2002187233483474]], [[0.18813980075193937]], [[0.1858971180181738]]], "count": [295]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43722609068952]], [[0.41792957695111277]], [[0.41210495203030234]]], "std": [[[0.1942123917429258]], [[0.20763430234988312]], [[0.2139315522937699]]], "count": [295]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4212726854430199]], [[0.39108153100107235]], [[0.37941922706003084]]], "std": [[[0.21737323328005115]], [[0.2369744650120983]], [[0.24528373817720142]]], "count": [295]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1972]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1972]}, "observation.state": {"min": [4.333149879871687, -0.8156661600992763, 0.6999977779549443, 0.0, 0.0, 0.7021257877349854, 0.7050864696502686, 0.06806065820883767, -0.40795353502260134, 0.18984670867713926, -0.9997029304504395, -0.2573086619377136, -0.5312101244926453, 8.550944585294928e-06, 0.00010123663258470756, -0.04473850423755952], "max": [4.7203696185833435, -0.8075301802953763, 0.7585073733559872, 0.0, 0.0, 0.7091212868690491, 0.7120530009269714, 0.5674813079295817, 0.3820402207710907, 0.5888216419764614, 0.9995501637458801, 0.6826992630958557, 0.23936256766319275, 0.39881235361099243, 0.041443596703922475, -0.00030998411854141883], "mean": [4.340080467414345, -0.8077735511826981, 0.7374798706961372, 0.0, 0.0, 0.7025275253379079, 0.7116555489040534, 0.28304120342042355, -0.2196724935973085, 0.3555419243650263, -0.5921107392463433, 0.1433380700158556, -0.12941306504482955, 0.11728860984451575, 0.03527394669826546, -0.0367745561164999], "std": [0.04598433986399912, 0.0011835421754058499, 0.02364794901298339, 0.0, 0.0, 0.000855575455203874, 0.0008515144891402439, 0.10128080547195453, 0.19212177037335487, 0.09936603897893491, 0.7055194364120828, 0.2424333337476886, 0.17301874252644875, 0.1090303920676055, 0.009998478369744067, 0.008158409973909422], "count": [1972]}, "action": {"min": [-0.18214285714285713, 0.0, -0.09428571428571429, 0.0, -1.0, -0.8678571428571429, -0.7071428571428573, -0.9375, -0.32, -0.43428571428571433, -0.34, -1.0], "max": [0.27589285714285716, 0.5839285714285714, 0.07142857142857142, 0.0, 1.0, 0.7232142857142858, 0.8464285714285713, 0.5705357142857143, 0.2571428571428571, 0.3057142857142857, 0.7114285714285714, 1.0], "mean": [0.0022955302810779483, 0.00960319472616633, -0.00018400463633729352, 0.0, -0.9239350912778904, -0.05375208272964352, -0.018016516951608236, -0.12446256519849344, -0.007770211532889022, 0.015282526803824992, 0.025937409446537194, -0.3488843813387424], "std": [0.02421328486457661, 0.06470116362642701, 0.005026246875321016, 0.0, 0.38254927408809, 0.335409112051386, 0.24061693587603067, 0.3322769882475608, 0.07222327900495797, 0.08583349113426862, 0.12186393009930692, 0.9371657742672075], "count": [1972]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008113590069115162], "std": [0.0897093191742897], "count": [1972]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005070993914807302], "std": [0.022513157079536626], "count": [1972]}, "timestamp": {"min": [0.0], "max": [98.55], "mean": [49.27499999999999], "std": [28.463364611373688], "count": [1972]}, "frame_index": {"min": [0], "max": [1971], "mean": [985.5], "std": [569.2672922274737], "count": [1972]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1972]}, "index": {"min": [120209], "max": [122180], "mean": [121194.5], "std": [569.2672922274737], "count": [1972]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1972]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4032547748166751]], [[0.39260213733498567]], [[0.36481974763807906]]], "std": [[[0.2591167339926755]], [[0.25046753711449443]], [[0.25188270121751405]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4227718767776988]], [[0.4147878939809363]], [[0.39620043031530444]]], "std": [[[0.23839489208845122]], [[0.23160053927508176]], [[0.2273888255018816]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4248695759991415]], [[0.41699154267903243]], [[0.3959226340250252]]], "std": [[[0.2633995329772013]], [[0.2566425307317405]], [[0.2527295179311986]]], "count": [192]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1112]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1112]}, "observation.state": {"min": [0.7717637472659792, -1.3168396293180664, 0.6999983859034422, 0.0, 0.0, -1.0, 8.88671323195922e-08, 0.0877607331986221, -0.3608123810445997, 0.2510868382124186, -0.9988713264465332, -0.4880528450012207, -0.7030714750289917, 2.9865261240047403e-05, 0.001125889683895185, -0.04363123673622977], "max": [0.8038447733033771, -0.9980003500235638, 0.7101540096823051, 0.0, 0.0, 1.0, 0.0068724690936505795, 0.5070684846164061, 0.4348930011240948, 0.622031405459944, 0.9975072145462036, 0.6031140089035034, 0.32044872641563416, 0.42132434248924255, 0.04346305221449531, -0.020504852404698105], "mean": [0.774225558023243, -1.3051381513237095, 0.7060656170501857, 0.0, 0.0, -0.8722993567478743, 0.002588458874309116, 0.30356471617276987, -0.1362599899879389, 0.45086441481123357, -0.2851496934354734, 0.051761465023184634, -0.08698578071208896, 0.10541631600387531, 0.03782529463290176, -0.039063985900507935], "std": [0.006777571063353192, 0.04639875986805684, 0.0033513090470084247, 0.0, 0.0, 0.48896500921038555, 0.0006139844778122754, 0.09289512114404329, 0.2183119111487712, 0.09051069586323185, 0.8741773912656066, 0.25024594217558144, 0.2463281598973023, 0.09921984070978182, 0.006130670957821333, 0.0022202196180330196], "count": [1112]}, "action": {"min": [-0.14285714285714288, -0.021428571428571432, -0.022857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2742857142857143, -0.5371428571428571, -0.5257142857142857, -1.0], "max": [1.0, 0.6785714285714286, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5828571428571429, 0.6514285714285715, 0.40571428571428575, 1.0], "mean": [0.02607913669064748, 0.016405447070914694, -0.0003340184994861254, 0.0, -0.8255395683453237, -0.021839671120246693, -0.027678571428571472, -0.03684480986639262, 0.002517985611510797, 0.017189105858170607, 0.006744604316546766, -0.6258992805755396], "std": [0.1390075190261702, 0.08315213670425887, 0.0021279063196468955, 0.0, 0.5643442398893049, 0.43924133899997087, 0.4155774476640585, 0.42017851076411084, 0.08130489205180223, 0.14986857915915147, 0.11497544932684248, 0.7799038982945411], "count": [1112]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014388489536941051], "std": [0.11908593773841858], "count": [1112]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008992805755395684], "std": [0.029974520346221147], "count": [1112]}, "timestamp": {"min": [0.0], "max": [55.55], "mean": [27.775], "std": [16.050330993471754], "count": [1112]}, "frame_index": {"min": [0], "max": [1111], "mean": [555.5], "std": [321.0066198694351], "count": [1112]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1112]}, "index": {"min": [122181], "max": [123292], "mean": [122736.5], "std": [321.0066198694351], "count": [1112]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1112]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39772133010122784]], [[0.3768017800567705]], [[0.3524221825172834]]], "std": [[[0.23034152258390928]], [[0.22661561561026194]], [[0.22685718122339374]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.396481898861468]], [[0.38713985658836964]], [[0.371075659294161]]], "std": [[[0.23526209031466322]], [[0.22966074530195685]], [[0.2239807461016072]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3833558763621645]], [[0.37422478240333723]], [[0.35740157721157134]]], "std": [[[0.22959807497268142]], [[0.22238738652310264]], [[0.21639453838383466]]], "count": [276]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1804]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1804]}, "observation.state": {"min": [2.43352482385984, -0.8153669833101082, 0.6999964414411789, 0.0, 0.0, 0.706796407699585, 0.7069458365440369, 0.07881464585262798, -0.42193508078323116, 0.21271650691366906, -0.9989852905273438, -0.35037991404533386, -0.5928477048873901, 0.00015923019964247942, 0.001088100244931376, -0.04607800382622969], "max": [2.4339485165579373, -0.8148070240154015, 0.7349636290107052, 0.0, 0.0, 0.7072676420211792, 0.7074170112609863, 0.5158081637140209, 0.5423417153067764, 0.6070822165315922, 0.9987499713897705, 0.6810417175292969, 0.5930848717689514, 0.4406832456588745, 0.04294864018162694, -0.0007018688612139268], "mean": [2.433769959620538, -0.8150509384170763, 0.7165930088976915, 0.0, 0.0, 0.7071027193061529, 0.7071107971892917, 0.35945429652989974, 0.149639313382725, 0.4114641827053848, 0.43837860428176806, 0.14665138212645926, 0.09253321655562297, 0.11982948507226891, 0.03776250899918246, -0.03780390954998682], "std": [3.316642201156145e-05, 5.3296610369608994e-05, 0.010804566823263216, 0.0, 0.0, 3.868149867045301e-05, 3.8681060722723024e-05, 0.11062069185184993, 0.19982027919605078, 0.07622103743423572, 0.7992275282423774, 0.19819092326188079, 0.2725262591686501, 0.1052674018068966, 0.005029029668196044, 0.005669832092919063], "count": [1804]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.6026785714285715, -0.9375, -0.5114285714285715, -0.4742857142857143, -0.5285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7633928571428571, 0.7982142857142857, 0.6857142857142857, 0.44285714285714284, 0.5, 0.5371428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0003518965790307147, -0.0013585880582831858, -0.10278498178650619, -0.012372505543237253, 0.0328508077288565, 0.004513778904022801, -0.6164079822616408], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.33968589302388874, 0.21433247009977371, 0.31736365424298246, 0.10026380641216201, 0.1270579094155185, 0.10477239451301071, 0.7874269486143697], "count": [1804]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008869179524481297], "std": [0.0937577560544014], "count": [1804]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005543237250554324], "std": [0.023537554041643174], "count": [1804]}, "timestamp": {"min": [0.0], "max": [90.15], "mean": [45.075], "std": [26.038493139964917], "count": [1804]}, "frame_index": {"min": [0], "max": [1803], "mean": [901.5], "std": [520.7698627992984], "count": [1804]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1804]}, "index": {"min": [123293], "max": [125096], "mean": [124194.5], "std": [520.7698627992984], "count": [1804]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1804]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6039770473027554]], [[0.5834601027192816]], [[0.5693221405068637]]], "std": [[[0.22040028743151371]], [[0.22592832120140413]], [[0.24089228806297408]]], "count": [289]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.585507246043726]], [[0.5811149619426194]], [[0.5811919778826052]]], "std": [[[0.2551835160293337]], [[0.256701473808368]], [[0.25660521962307886]]], "count": [289]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5972581572105282]], [[0.5946688470284646]], [[0.5959731389987872]]], "std": [[[0.2512540734137923]], [[0.2524003202354932]], [[0.2512825738594889]]], "count": [289]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1918]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1918]}, "observation.state": {"min": [0.6841609473528292, -0.9177575699761099, 0.6999982559338923, 0.0, 0.0, 0.7063246965408325, 0.7070226073265076, 0.09710190336070812, -0.3877588015324599, 0.23322152709066624, -0.9995282292366028, -0.4194863736629486, -0.716475784778595, 0.00021553720580413938, -0.0015764063332346584, -0.041138880211601093], "max": [0.9786130590227412, -0.7814091979945593, 0.7295398065081797, 0.0, 0.0, 0.707190990447998, 0.7078879475593567, 0.4367126005600894, 0.4779743105877725, 0.6199860694886505, 0.9991326928138733, 0.7909213900566101, 0.2053995132446289, 0.5604263544082642, 0.040412679127732935, -1.3710406119781084e-05], "mean": [0.6890935036581516, -0.7850929758655415, 0.718362644462788, 0.0, 0.0, 0.7070602487784357, 0.7071532635979657, 0.24675805795026298, -0.18781648263838915, 0.39659438047134626, -0.6057495472640017, 0.07824960197064719, -0.13320886704862653, 0.12423080487298897, 0.03210542411202109, -0.0345456915657193], "std": [0.034832177472015474, 0.013233605793120847, 0.008903318696217813, 0.0, 0.0, 6.343391573346065e-05, 6.340087626420313e-05, 0.07888456924663656, 0.23693863931056733, 0.08669907728569959, 0.6717155886152222, 0.2736096288768228, 0.22000834627435303, 0.1389203244646439, 0.012991900719212208, 0.010593659009029952], "count": [1918]}, "action": {"min": [-0.6696428571428571, 0.0, -0.014285714285714287, 0.0, -1.0, -0.9375, -0.7125, -0.9375, -0.5228571428571429, -0.4542857142857143, -0.3485714285714286, -1.0], "max": [0.5330357142857143, 0.7901785714285714, 0.0, 0.0, 1.0, 0.6294642857142857, 0.7875, 0.8383928571428572, 0.3628571428571429, 0.7428571428571429, 0.6428571428571429, 1.0], "mean": [0.002168832861611798, 0.007463131237896616, -1.0427528675703859e-05, 0.0, -0.9332638164754953, -0.0006535826009235693, 0.011275696409950865, -0.10338056755548933, 0.009776552956949212, 0.011205124385520647, 0.004804111425592138, -0.38790406673618355], "std": [0.05478754537491086, 0.062490001306975365, 0.00035116827461035297, 0.0, 0.3591916603397194, 0.2651182861110869, 0.27500376315507713, 0.3109727678254421, 0.08666943289492787, 0.11429588568304873, 0.1283433824981522, 0.9216997531786139], "count": [1918]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008342023007571697], "std": [0.09095291048288345], "count": [1918]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005213764337851929], "std": [0.022827715619384396], "count": [1918]}, "timestamp": {"min": [0.0], "max": [95.85], "mean": [47.925000000000004], "std": [27.683941644932], "count": [1918]}, "frame_index": {"min": [0], "max": [1917], "mean": [958.5], "std": [553.6788328986399], "count": [1918]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1918]}, "index": {"min": [125097], "max": [127014], "mean": [126055.5], "std": [553.6788328986399], "count": [1918]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1918]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5238171565320352]], [[0.4958172322390162]], [[0.4764553810625514]]], "std": [[[0.24271404445166997]], [[0.24688187157978972]], [[0.25892981310587476]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5107604724671059]], [[0.4534044886684546]], [[0.41755964978336124]]], "std": [[[0.18890276053361615]], [[0.20743736856962755]], [[0.23353709008913362]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5546588301034124]], [[0.4712581637376369]], [[0.41923132994774126]]], "std": [[[0.20835770721007477]], [[0.2502254110499981]], [[0.2863664955270391]]], "count": [262]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1685]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1685]}, "observation.state": {"min": [1.9655071019599792, -0.875300384973236, 0.6999965730501785, 0.0, 0.0, 0.69804847240448, 0.706281840801239, 0.08117786557351026, -0.33694043415780195, 0.223539610083061, -0.9972031116485596, -0.4643726646900177, -0.6272830367088318, 0.00011170707148266956, 0.00600659139284325, -0.04081709536067173], "max": [2.474839288546515, -0.7892391037571066, 0.7135046988425072, 0.0, 0.0, 0.7079306244850159, 0.7160505056381226, 0.423715565976576, 0.2658815057465942, 0.6193294998105047, 0.9976117014884949, 0.6145151853561401, 0.3277643024921417, 0.47130340337753296, 0.04090918593550328, -0.015184496446785645], "mean": [2.1209826689503197, -0.7961223683548855, 0.7073593828315039, 0.0, 0.0, 0.7023946794628744, 0.7117766503764189, 0.24424608150127058, -0.14394170166869155, 0.400102108707311, -0.4265595837233682, 0.07049360626352293, -0.09473043364626929, 0.12072105264970055, 0.035535017380060055, -0.035810652403740276], "std": [0.23041979391281156, 0.012654995119007686, 0.004715995977639622, 0.0, 0.0, 0.002825705895102164, 0.00277986392319045, 0.07661372325955723, 0.18953292359113377, 0.08835242565152941, 0.8007392886995164, 0.2842686992442744, 0.2238942780905905, 0.13194467016511835, 0.00854262800626976, 0.008088759934769004], "count": [1685]}, "action": {"min": [-0.5625000000000001, -0.7821428571428571, -0.08285714285714285, 0.0, -1.0, -0.6696428571428571, -0.5035714285714286, -0.8410714285714286, -0.29428571428571426, -0.5028571428571429, -0.6314285714285715, -1.0], "max": [0.45, 0.5357142857142857, 0.04857142857142857, 0.0, 1.0, 0.4419642857142857, 0.7875, 0.6294642857142857, 0.2885714285714286, 0.35714285714285715, 0.43428571428571433, 1.0], "mean": [0.006256888512081391, -0.0025736540907164047, -0.0002916490038151759, 0.0, -0.8385756676557864, -0.023534866468842685, 0.002061784654514638, -0.052631941500635826, 0.0037236116998728263, -0.002027977956761338, -0.0012598558711318362, -0.6451038575667656], "std": [0.07229713447125394, 0.10213399399073346, 0.0039511599122217436, 0.0, 0.544785140780876, 0.23816694818467682, 0.20310737519255542, 0.229766880122511, 0.05482452895353714, 0.09414847587641602, 0.11221302712509515, 0.7640948978709957], "count": [1685]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009495548903942108], "std": [0.09698136150836945], "count": [1685]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005934718100890207], "std": [0.02435404691831833], "count": [1685]}, "timestamp": {"min": [0.0], "max": [84.2], "mean": [42.1], "std": [24.320875806598742], "count": [1685]}, "frame_index": {"min": [0], "max": [1684], "mean": [842.0], "std": [486.4175161319748], "count": [1685]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1685]}, "index": {"min": [127015], "max": [128699], "mean": [127857.0], "std": [486.4175161319748], "count": [1685]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1685]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5131332559603667]], [[0.49563443381148453]], [[0.4833003509926841]]], "std": [[[0.2515011114294756]], [[0.2552439740433401]], [[0.262334600773073]]], "count": [310]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45422266420271484]], [[0.39891777641783777]], [[0.3631651185510431]]], "std": [[[0.24588474235423854]], [[0.24701291213443544]], [[0.2620082752129334]]], "count": [310]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5337954472560508]], [[0.45394858295747104]], [[0.40308272244129506]]], "std": [[[0.21263119262537897]], [[0.24011523294738604]], [[0.27086343824995524]]], "count": [310]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2103]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2103]}, "observation.state": {"min": [2.871558328351465, -0.9063481363275878, 0.6999979170219005, 0.0, 0.0, 0.689071774482727, 0.7030661106109619, 0.0833344426788335, -0.46181602184242765, 0.22815069105240982, -0.9988603591918945, -0.6947504281997681, -0.6315228939056396, 6.569414836121723e-05, 0.0005413986185907703, -0.04197466865803237], "max": [3.211188596771318, -0.7798484629773205, 0.7303302983001106, 0.0, 0.0, 0.7111244797706604, 0.7246930003166199, 0.47400212330806457, 0.20452384340308116, 0.6055747896661472, 0.9992822408676147, 0.7272095680236816, 0.37759390473365784, 0.4583246409893036, 0.04116633129464938, -0.0008951112861976482], "mean": [2.880373448939836, -0.7841184546318408, 0.7119600576134256, 0.0, 0.0, 0.6898388111245558, 0.723951525422884, 0.2814762771060026, -0.2697329699599017, 0.39531923324548046, -0.48455240255415694, 0.15201860301894513, -0.07898165650803017, 0.12247974839592937, 0.03736359163759554, -0.0386681160843779], "std": [0.04883229232809672, 0.020158327400828843, 0.010087269903570485, 0.0, 0.0, 0.0029148692727021005, 0.0028472036992422626, 0.08458010661684175, 0.18176966383601392, 0.09586288884051744, 0.7305393409734293, 0.3604814161227317, 0.19752467863874718, 0.13494199201525306, 0.006594982803277935, 0.0043032852934796525], "count": [2103]}, "action": {"min": [-0.5303571428571429, 0.0, -0.12, 0.0, -1.0, -0.8973214285714287, -0.7982142857142857, -0.9375, -0.3857142857142858, -0.4285714285714286, -0.4114285714285714, -1.0], "max": [0.43928571428571433, 0.6535714285714286, 0.08857142857142856, 0.0, 1.0, 0.7848214285714286, 0.8624999999999999, 0.6214285714285714, 0.4257142857142857, 0.2542857142857143, 0.46857142857142864, 1.0], "mean": [0.0029001936009781957, 0.010463368657020586, -0.0006507710074043884, 0.0, -0.8849262957679506, -0.009392194823721207, -0.004657886692480167, -0.07942225392296744, 0.003316350791386461, 0.005568915155220437, -0.004889613477345298, -0.6595339990489777], "std": [0.05257484496978297, 0.06334076365632735, 0.008488811871347916, 0.0, 0.46573109307669347, 0.29271990740620313, 0.27634429358054297, 0.26347312724449956, 0.07710583073612165, 0.07438058757172619, 0.11791710147719728, 0.7516747329120819], "count": [2103]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007608179003000259], "std": [0.08689242601394653], "count": [2103]}, "next.done": {"min": [false], "max": [true], "mean": [0.00047551117451260106], "std": [0.02180103354512154], "count": [2103]}, "timestamp": {"min": [0.0], "max": [105.1], "mean": [52.55], "std": [30.354186970938073], "count": [2103]}, "frame_index": {"min": [0], "max": [2102], "mean": [1051.0], "std": [607.0837394187615], "count": [2103]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [2103]}, "index": {"min": [128700], "max": [130802], "mean": [129751.0], "std": [607.0837394187615], "count": [2103]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2103]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5052886522239731]], [[0.4906089240038245]], [[0.46608698190270814]]], "std": [[[0.2467956757741797]], [[0.24283403378241727]], [[0.24937792338352235]]], "count": [239]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.567104816616721]], [[0.5230762251036251]], [[0.48119373313709146]]], "std": [[[0.2553721299290454]], [[0.2812186572414364]], [[0.30434902819174936]]], "count": [239]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5740679317233072]], [[0.5344083930755797]], [[0.4948408322901925]]], "std": [[[0.27180483259882066]], [[0.2939999342215879]], [[0.3148891166310425]]], "count": [239]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1487]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1487]}, "observation.state": {"min": [0.7602441563704948, -3.4080735212944204, 0.6999979394684851, 0.0, 0.0, -1.0, 8.301353204842599e-08, 0.010054760821076036, -0.37153622566673183, 0.22379035357293764, -0.9985630512237549, -0.4615664780139923, -0.5926713347434998, 0.0002889574388973415, 0.0168135576601297, -0.0418641254276047], "max": [0.878773163331142, -2.7266323981560654, 0.7189382031884585, 0.0, 0.0, 1.0, 0.02661602757871151, 0.4696575582190788, 0.36713872451452456, 0.5972797583587437, 0.9985873699188232, 0.7109813690185547, 0.5753704905509949, 0.4382224380970001, 0.0415982682718892, -0.006878811250373233], "mean": [0.7958227195989526, -3.224606892993419, 0.7124834676829512, 0.0, 0.0, 0.9822979437158503, 0.020655482430060212, 0.27803854682264845, -0.14902538802729443, 0.4107670516560314, -0.2241858391049891, 0.12303228179780765, -0.11272799265436281, 0.10044203282923972, 0.03752297465202639, -0.037241402921453885], "std": [0.02289991759006627, 0.2956250037358638, 0.005679638205951647, 0.0, 0.0, 0.18616088793380106, 0.0028739851931742382, 0.09122850589257346, 0.22616784255414282, 0.08351396782922677, 0.881317418066259, 0.2827514327547758, 0.21081132794197302, 0.10342814882734434, 0.005655726425902969, 0.006160787193829965], "count": [1487]}, "action": {"min": [-0.594642857142857, -0.7848214285714286, -0.14285714285714285, 0.0, -1.0, -0.8410714285714286, -0.6080357142857142, -0.9375, -0.4228571428571429, -0.3514285714285714, -0.4742857142857143, -1.0], "max": [0.5973214285714286, 0.7875, 0.14, 0.0, 1.0, 0.6669642857142857, 0.7580357142857144, 0.7419642857142859, 0.39714285714285713, 0.5542857142857143, 0.5314285714285715, 1.0], "mean": [0.007994283792871551, -0.002520054760303579, -0.0009703141512152947, 0.0, -0.8251513113651647, -0.026873979248727056, 0.02379911614948605, -0.10018793832260549, 0.0015063887020847324, 0.009768469593620903, 0.001621673551734077, -0.7121721587088097], "std": [0.08030628867622874, 0.13338369307510212, 0.012073160584706338, 0.0, 0.5649117748395353, 0.281885376630432, 0.24420009735399573, 0.3082145645720715, 0.08893135435096246, 0.1025790688573251, 0.11987703414402771, 0.7020048549404965], "count": [1487]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010759918950498104], "std": [0.10317045450210571], "count": [1487]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006724949562878278], "std": [0.025923786506249335], "count": [1487]}, "timestamp": {"min": [0.0], "max": [74.3], "mean": [37.15], "std": [21.46299140380949], "count": [1487]}, "frame_index": {"min": [0], "max": [1486], "mean": [743.0], "std": [429.25982807618976], "count": [1487]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1487]}, "index": {"min": [130803], "max": [132289], "mean": [131546.0], "std": [429.25982807618976], "count": [1487]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1487]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.515962263723399]], [[0.5030175491506225]], [[0.4900541240585847]]], "std": [[[0.2534163370340278]], [[0.25439994483509676]], [[0.2600470611860023]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4900736416087431]], [[0.4023386507457501]], [[0.334736105778146]]], "std": [[[0.21806667158331497]], [[0.2554313022686237]], [[0.28870822195223256]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49271116581494595]], [[0.4022655620909574]], [[0.3317308073565441]]], "std": [[[0.21559835027834973]], [[0.2504141355514806]], [[0.2827724757496965]]], "count": [152]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [814]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [814]}, "observation.state": {"min": [0.8055135769500722, -5.621042473188203, 0.6999974902458838, 0.0, 0.0, -1.0, 4.777732698357795e-08, 0.09162826001808477, -0.5718337686149191, 0.23123665887250833, -0.9913954138755798, -0.39366722106933594, -0.4243210554122925, 3.888037463184446e-05, 0.0012148867914399, -0.0412627374945035], "max": [0.8100621513054617, -5.620231718376896, 0.7069247510366962, 0.0, 0.0, 1.0, 0.0006634293822571635, 0.42463856337763434, 0.41686917550316593, 0.6005189100906554, 0.991527259349823, 0.8464018702507019, 0.40171653032302856, 0.6226547360420227, 0.04493270554585406, -0.0008775206255862768], "mean": [0.8056895110905617, -5.620781678874243, 0.7045545519818195, 0.0, 0.0, 0.9803439788794928, 0.00016420666798552718, 0.2683693899543477, -0.02602305474004707, 0.40248324668794744, -0.1698804791348572, 0.1832417506880198, -0.028144960450092175, 0.15182219940765504, 0.035150581082183364, -0.036580166082070306], "std": [0.000506160498930819, 6.0384221444043485e-05, 0.0018827027481569337, 0.0, 0.0, 0.1972959202460835, 6.789009901375081e-05, 0.08947089474144065, 0.2110787327691465, 0.07386988783942505, 0.856427200171545, 0.3432861951219171, 0.19425702641240425, 0.15707390421424225, 0.009312177447319816, 0.0066912843785223676], "count": [814]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5885714285714285, -0.3742857142857143, -0.4314285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.5771428571428572, 0.44571428571428573, 0.5457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002430677430677458, 0.025570375570375573, -0.03338890838890837, -0.0011758511758511812, 0.033148473148473155, 0.01033345033345034, -0.5724815724815725], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5177632864396768, 0.43766174792279855, 0.44834801322529827, 0.14025532163504467, 0.1412977379975543, 0.1512878546692687, 0.8199175868153037], "count": [814]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019656019285321236], "std": [0.13881520926952362], "count": [814]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012285012285012285], "std": [0.03502844577244042], "count": [814]}, "timestamp": {"min": [0.0], "max": [40.65], "mean": [20.325], "std": [11.749069112061603], "count": [814]}, "frame_index": {"min": [0], "max": [813], "mean": [406.5], "std": [234.98138224123204], "count": [814]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [814]}, "index": {"min": [132290], "max": [133103], "mean": [132696.5], "std": [234.98138224123204], "count": [814]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [814]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46942000304005904]], [[0.4449715608085682]], [[0.421537129150803]]], "std": [[[0.18238422994360753]], [[0.17796619110045292]], [[0.18496457461826393]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4105633796377575]], [[0.37320218340821965]], [[0.3564210264064881]]], "std": [[[0.1907264021447424]], [[0.21230814731904882]], [[0.22165475065813958]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41233790811484206]], [[0.37757895229373495]], [[0.3628132154161188]]], "std": [[[0.2061335049463029]], [[0.22706847397253138]], [[0.2359094099208365]]], "count": [267]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1723]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1723]}, "observation.state": {"min": [0.8277363785065323, -3.5770360494635645, 0.699877807612095, 0.0, 0.0, -1.0, 3.67614845231401e-08, 0.09918755654557687, -0.35008784001151394, 0.2111103367604239, -0.9996760487556458, -0.6397277116775513, -0.5117350816726685, 2.099922494380735e-05, 8.167825924464219e-05, -0.042873166238800296], "max": [0.8623127169240931, -3.1104620554849367, 0.7289520102039668, 0.0, 0.0, 1.0, 0.004714048467576504, 0.5422580669738928, 0.43016829070275975, 0.6300021765783197, 0.9996329545974731, 0.7110769748687744, 0.27638521790504456, 0.3235092759132385, 0.04004014540820876, -0.0002175089968970812], "mean": [0.8591249348803423, -3.5607868070253015, 0.7131862562430176, 0.0, 0.0, 0.9849024007850377, 0.00386288307033452, 0.291128061128074, -0.11742451451639348, 0.388369510152039, -0.33396638909952625, 0.11695492253014499, -0.11087341804108337, 0.1252392468596489, 0.03047075279989663, -0.03267792708703506], "std": [0.005317635409464573, 0.08256000793299732, 0.010070667151396411, 0.0, 0.0, 0.17306640720967328, 0.000653275184090361, 0.10653892056582041, 0.2056647546628344, 0.0967067529594311, 0.841140333309017, 0.3071049807324584, 0.18946361486288896, 0.09530592537276623, 0.013819267401709296, 0.01305352805650369], "count": [1723]}, "action": {"min": [-0.40714285714285714, -0.053571428571428575, -0.10285714285714286, 0.0, -1.0, -0.8383928571428572, -0.811607142857143, -0.9321428571428573, -0.34285714285714286, -0.5285714285714286, -0.5428571428571428, -1.0], "max": [0.08303571428571428, 0.8839285714285714, 0.0, 0.0, 1.0, 0.7339285714285714, 0.7982142857142857, 0.9375, 0.32857142857142857, 0.4971428571428572, 0.5228571428571429, 1.0], "mean": [-0.0016867382472431803, 0.008732173949092115, -0.00012270955973799853, 0.0, -0.9500870574579222, -0.021481427742309867, -0.02756923140701435, -0.06844270790150069, 0.0033960699776137975, 0.01303706160351548, 0.008054058535776466, -0.2663958212420197], "std": [0.02316861761433511, 0.07883791879282603, 0.002860309846143704, 0.0, 0.31198490869101536, 0.3151925000804314, 0.25797704008375616, 0.30787813986907253, 0.06703236809918826, 0.10815011524894912, 0.11042126326617643, 0.9638637177655306], "count": [1723]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009286128915846348], "std": [0.09591609984636307], "count": [1723]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005803830528148578], "std": [0.024084148486647045], "count": [1723]}, "timestamp": {"min": [0.0], "max": [86.1], "mean": [43.05], "std": [24.869358656788883], "count": [1723]}, "frame_index": {"min": [0], "max": [1722], "mean": [861.0], "std": [497.3871731357776], "count": [1723]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1723]}, "index": {"min": [133104], "max": [134826], "mean": [133965.0], "std": [497.3871731357776], "count": [1723]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1723]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38713080195525407]], [[0.3649919282616893]], [[0.3360461483108937]]], "std": [[[0.25878673049222845]], [[0.23786725451538138]], [[0.23553928602985194]]], "count": [286]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48176593014230523]], [[0.4671082900839873]], [[0.4396768098928205]]], "std": [[[0.2537244614818554]], [[0.24278077950321986]], [[0.2329987032123015]]], "count": [286]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47999019520805486]], [[0.466357400115586]], [[0.4398364229357882]]], "std": [[[0.259883944167608]], [[0.24981068485576471]], [[0.24187476246744152]]], "count": [286]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1891]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1891]}, "observation.state": {"min": [3.9144160865009074, -0.7757483150797767, 0.6999987224283448, 0.0, 0.0, 0.7027584314346313, 0.7071589231491089, 0.04104998978145957, -0.5142044134229966, 0.22400495298767442, -0.9996504783630371, -0.5931060314178467, -0.6306124329566956, 0.00012398532999213785, 0.0006126562716784803, -0.0404988286011762], "max": [4.4343086770614715, -0.7743678045744739, 0.713044830802234, 0.0, 0.0, 0.7070545554161072, 0.7114285230636597, 0.47029141013659576, 0.310175878892645, 0.5898801529893483, 0.9996078014373779, 0.7516542077064514, 0.2259272336959839, 0.38550782203674316, 0.04011243592575651, -0.0001821112021802015], "mean": [4.032171832080494, -0.7749686256792507, 0.7088212460220829, 0.0, 0.0, 0.7047871436346529, 0.709418665347813, 0.25255394859727714, -0.15093157227922308, 0.4398860359606808, -0.39001095235064065, 0.09848050884055373, -0.14316319898223484, 0.10369271686457189, 0.03433515738089717, -0.03572259058619433], "std": [0.212963571818054, 0.0002348716940460174, 0.004283684197054532, 0.0, 0.0, 0.00035095487301988756, 0.00034881027277275573, 0.09304909879842853, 0.21707188711276518, 0.07968406217679053, 0.81021328438741, 0.3016407493041783, 0.22375591266483588, 0.09718923993272281, 0.010432564460771645, 0.00908059043553475], "count": [1891]}, "action": {"min": [-0.21696428571428572, -0.7285714285714285, -0.12857142857142856, 0.0, -1.0, -0.7821428571428571, -0.8491071428571428, -0.7178571428571429, -0.2485714285714286, -0.4285714285714286, -0.66, -1.0], "max": [0.26785714285714285, 0.6026785714285715, 0.0, 0.0, 1.0, 0.6696428571428571, 0.7848214285714286, 0.5625000000000001, 0.36857142857142855, 0.5085714285714286, 0.5114285714285715, 1.0], "mean": [0.0012380071013069428, -0.0018825073657173057, -0.0001828208808642442, 0.0, -0.8677948175568482, -0.021775610032484707, -0.010412574601495882, -0.048963605801918914, 0.008438467930800029, 0.0041051597794062086, -0.0003188033542343422, -0.6329984135378107], "std": [0.019292265055065688, 0.10197023001190651, 0.0034935653892305242, 0.0, 0.49692268475235063, 0.2419734049801542, 0.28198328204242634, 0.24766252692738433, 0.06915211759134757, 0.09226119508440755, 0.13374917455545307, 0.774153091099311], "count": [1891]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00846113171428442], "std": [0.09159444272518158], "count": [1891]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005288207297726071], "std": [0.02299002127898906], "count": [1891]}, "timestamp": {"min": [0.0], "max": [94.5], "mean": [47.25], "std": [27.29423015950441], "count": [1891]}, "frame_index": {"min": [0], "max": [1890], "mean": [945.0], "std": [545.8846031900881], "count": [1891]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1891]}, "index": {"min": [134827], "max": [136717], "mean": [135772.0], "std": [545.8846031900881], "count": [1891]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1891]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40512281371647924]], [[0.37431362165299253]], [[0.36134421871057704]]], "std": [[[0.25757564180696974]], [[0.2359179144010791]], [[0.2406246486858501]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6164334933623036]], [[0.4718648204341479]], [[0.4239303648705576]]], "std": [[[0.1839804806775677]], [[0.23674032524672298]], [[0.22969649723746496]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6211775621108393]], [[0.5309821397897968]], [[0.47628467916204853]]], "std": [[[0.19212150145511686]], [[0.2101226189456557]], [[0.2142421345445762]]], "count": [170]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [946]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [946]}, "observation.state": {"min": [0.4258343417882258, -0.8376976098112157, 0.6999980380850164, 0.0, 0.0, 0.7069500088691711, 0.7070218324661255, 0.0455341713746682, -0.6134546645462989, 0.2468819690989409, -0.9936975836753845, -0.41667285561561584, -0.6824171543121338, 0.0003633060841821134, 0.0008851093293726388, -0.04061854436364154], "max": [0.42617091662945494, -0.8372718721806849, 0.7096462821331396, 0.0, 0.0, 0.7071917653083801, 0.7072634696960449, 0.553610263154697, 0.19254359900341295, 0.5975087968343494, 0.9978762865066528, 0.7151303887367249, 0.41178491711616516, 0.5648072361946106, 0.04041763463578319, -0.0017869246699055252], "mean": [0.4259203123709911, -0.8374483732441547, 0.7062247781121498, 0.0, 0.0, 0.7071008640666341, 0.7071126497195085, 0.3207230458426224, 0.009969621213614395, 0.4133686790309104, -0.005880356843073323, 0.14188261284447623, -0.06369177119454886, 0.22014609068339488, 0.03415759353259097, -0.03419710442326132], "std": [2.553553003713491e-05, 3.2498308366039144e-05, 0.003202950445508375, 0.0, 0.0, 2.13903024588955e-05, 2.1396862942481595e-05, 0.1069548233917905, 0.2181257738092482, 0.0779436483639076, 0.8684229561698606, 0.3017239308558677, 0.2474648808389708, 0.1444962777976099, 0.009557866601206262, 0.00930196568768388], "count": [946]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.40857142857142864, -0.6542857142857142, -0.26857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.5685714285714286, 0.6085714285714285, 0.5485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010351857444880696, 0.011907278767743905, -0.04907127755964971, 0.00709453337360315, 0.03903352461491995, 0.004805194805194812, -0.4714587737843552], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4783296395836009, 0.41669283402136664, 0.38177082770916293, 0.1264066977201713, 0.1871098680696913, 0.10099839128552364, 0.881888102097852], "count": [946]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016913319006562233], "std": [0.12894673645496368], "count": [946]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010570824524312897], "std": [0.03249561553686976], "count": [946]}, "timestamp": {"min": [0.0], "max": [47.25], "mean": [23.625], "std": [13.654326237497036], "count": [946]}, "frame_index": {"min": [0], "max": [945], "mean": [472.5], "std": [273.08652474994074], "count": [946]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [946]}, "index": {"min": [136718], "max": [137663], "mean": [137190.5], "std": [273.08652474994074], "count": [946]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [946]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46764051463932604]], [[0.4539073177481959]], [[0.43796151702923125]]], "std": [[[0.20300479604528243]], [[0.19616151246957494]], [[0.19751655450714148]]], "count": [269]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.07058823529411765]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4019661397382707]], [[0.3688146192310277]], [[0.3561315967352104]]], "std": [[[0.19525792719733817]], [[0.21730367922303298]], [[0.22674379851506152]]], "count": [269]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.058823529411764705]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41190581192071096]], [[0.37890885975454885]], [[0.36634033323246673]]], "std": [[[0.20522098858162263]], [[0.2275434676942148]], [[0.23700499355206575]]], "count": [269]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1742]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1742]}, "observation.state": {"min": [0.7958471532183263, -1.8938975546595154, 0.6999980509936352, 0.0, 0.0, -1.0, 7.799181389600562e-08, 0.08043033193371252, -0.4644939710893794, 0.2241736786612476, -0.9930747747421265, -0.28192436695098877, -0.6089455485343933, 8.087352034635842e-05, 0.013549718297697026, -0.04119438969689545], "max": [0.9333713542883045, -1.2762134206152127, 0.7163970490264356, 0.0, 0.0, 1.0, 0.006652850657701492, 0.5676396143203707, 0.25635372046096583, 0.6191730995424237, 0.9951753616333008, 0.9918935298919678, 0.42193907499313354, 0.46633830666542053, 0.04071088067202882, -0.013654642254612189], "mean": [0.8252664100021946, -1.7085920281963205, 0.7075253113994023, 0.0, 0.0, 0.4110191582812234, 0.003791030772532296, 0.3155061973182791, -0.18159831580157604, 0.4185865812124018, -0.296613175071237, 0.30135554544430926, -0.10013388519857302, 0.11429889532482818, 0.03613966344664432, -0.036137524520569134], "std": [0.021252425598630123, 0.2784340557728724, 0.00496196515521935, 0.0, 0.0, 0.9116186838994971, 0.0005617742937340884, 0.09771870311302937, 0.23889767785744376, 0.09607023008105423, 0.797328460202987, 0.31801446329337646, 0.21536070767984547, 0.12193571806184107, 0.007872836085899202, 0.0077121373525665254], "count": [1742]}, "action": {"min": [-1.0, -1.0, -0.04857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.39714285714285713, -0.3628571428571429, -0.8285714285714287, -1.0], "max": [0.6428571428571428, 0.807142857142857, 0.1, 0.0, 1.0, 0.8857142857142857, 1.0, 1.0, 0.2571428571428571, 0.3742857142857143, 0.4571428571428572, 1.0], "mean": [0.00224290634738396, -0.006494997539773659, 0.00012465146793505004, 0.0, -0.8633754305396096, -0.020165655240282094, -0.01025504346399867, -0.06041085779891747, 0.00966704936854191, 0.010861079219288175, 0.0032885025422339205, -0.6750861079219288], "std": [0.06093716345213337, 0.11359471959400924, 0.005686616738423783, 0.0, 0.5045620536074161, 0.3479473715776415, 0.3035053714988275, 0.3366652886992191, 0.07091644665806217, 0.08254660852647883, 0.15692831752361597, 0.7377389422355404], "count": [1742]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00918484479188919], "std": [0.09539644420146942], "count": [1742]}, "next.done": {"min": [false], "max": [true], "mean": [0.000574052812858783], "std": [0.023952521291647606], "count": [1742]}, "timestamp": {"min": [0.0], "max": [87.05], "mean": [43.525], "std": [25.143600080338537], "count": [1742]}, "frame_index": {"min": [0], "max": [1741], "mean": [870.5], "std": [502.8720016067707], "count": [1742]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1742]}, "index": {"min": [137664], "max": [139405], "mean": [138534.5], "std": [502.8720016067707], "count": [1742]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1742]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35991716199304014]], [[0.34245881380172205]], [[0.3188276846797829]]], "std": [[[0.23876698622204387]], [[0.22124051578525888]], [[0.21458854265594007]]], "count": [265]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4067862077346785]], [[0.3981574644709004]], [[0.3785395955810095]]], "std": [[[0.2326425154817242]], [[0.225599862170383]], [[0.22231393485791257]]], "count": [265]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41038527431904365]], [[0.40176765535039194]], [[0.38161107296507935]]], "std": [[[0.24082412473358542]], [[0.23456616580766693]], [[0.23193582004469657]]], "count": [265]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1708]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1708]}, "observation.state": {"min": [0.7521454681503934, -3.5817012724889126, 0.6999288108948759, 0.0, 0.0, -1.0, 8.301632448137752e-08, 0.01841938384966535, -0.3948178685161383, 0.23033587616468498, -0.9978808760643005, -0.6605470776557922, -0.6764042377471924, 7.70242404541932e-05, 0.013710388140969003, -0.04257230747827698], "max": [0.8451688345331951, -3.035684404836063, 0.7070678931499015, 0.0, 0.0, 1.0, 0.008541570045053959, 0.5497023862669037, 0.42527603856207463, 0.6137565419195733, 0.9979206919670105, 0.6747357249259949, 0.6736969947814941, 0.4466533362865448, 0.0420170491899939, -0.00434773781114032], "mean": [0.8082365014678351, -3.432848053352635, 0.7044422123731614, 0.0, 0.0, 0.955496903884048, 0.0019525055774569239, 0.27552286792508995, -0.10387750131893217, 0.4421436605213864, -0.005559120650034599, 0.130997398052478, 0.027873626219343032, 0.09115238151377421, 0.03565901099713131, -0.03471165751235846], "std": [0.03178732606048593, 0.2387293222327748, 0.0025264945113830043, 0.0, 0.0, 0.2949787260966873, 0.0030711231153520533, 0.11393760997255786, 0.22766916745709215, 0.07866560436468414, 0.8895212588840627, 0.3173379857814455, 0.2731946159401965, 0.08447674026207459, 0.008033319175611205, 0.009707835651856556], "count": [1708]}, "action": {"min": [-0.39375, -0.6964285714285715, -0.06571428571428571, 0.0, -1.0, -0.8303571428571429, -0.6991071428571428, -0.7366071428571429, -0.3342857142857143, -0.6942857142857143, -0.5628571428571428, -1.0], "max": [0.4955357142857143, 0.6616071428571428, 0.0, 0.0, 1.0, 0.61875, 0.7955357142857143, 0.7982142857142857, 0.2885714285714286, 0.26, 0.842857142857143, 1.0], "mean": [0.0021626170960187354, -0.0017485990297758428, -0.0002827032452325192, 0.0, -0.8583138173302107, -0.021326635162261607, 0.008706925393108075, -0.015262211441953848, 0.004989963198394111, -0.0042271662763466045, 0.003320508531281368, -0.5480093676814989], "std": [0.04532830795246822, 0.11133259986401037, 0.003526670427822571, 0.0, 0.5131251221486332, 0.28056941118895756, 0.2360412774349977, 0.2505784212759717, 0.06062741424188856, 0.09582595570948009, 0.15694720136144066, 0.8364721949552828], "count": [1708]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00995316170156002], "std": [0.09926781058311462], "count": [1708]}, "next.done": {"min": [false], "max": [true], "mean": [0.000585480093676815], "std": [0.024189611545800464], "count": [1708]}, "timestamp": {"min": [0.0], "max": [85.35], "mean": [42.675], "std": [24.652852269058037], "count": [1708]}, "frame_index": {"min": [0], "max": [1707], "mean": [853.5], "std": [493.0570453811607], "count": [1708]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1708]}, "index": {"min": [139406], "max": [141113], "mean": [140259.5], "std": [493.0570453811607], "count": [1708]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1708]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4616324771234321]], [[0.4350791731863593]], [[0.41938525344245076]]], "std": [[[0.16453883054385834]], [[0.15961840039566783]], [[0.16374431386100888]]], "count": [289]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4819374126400939]], [[0.4675866688451981]], [[0.46184636374909094]]], "std": [[[0.16091845263349266]], [[0.16758912165975787]], [[0.17261204946490558]]], "count": [289]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4976246629918525]], [[0.4845968312587592]], [[0.48017989995319604]]], "std": [[[0.17747664009255218]], [[0.18050518882947417]], [[0.1842044764412451]]], "count": [289]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1915]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1915]}, "observation.state": {"min": [2.2231637948506044, -5.139071483416285, 0.6999916230908472, 0.0, 0.0, -0.01903393678367138, 0.9998188614845276, 0.013755797919501322, -0.43588884392444527, 0.20219351883455072, -0.9922577738761902, -0.8351315259933472, -0.5553150773048401, 0.00020457278878893703, -0.0023891172448353578, -0.042689562796428895], "max": [2.2351590032765505, -4.685220115015952, 0.7344753454534719, 0.0, 0.0, 4.843834176426753e-06, 1.0, 0.57474791315882, 0.5167353106344592, 0.6430477546921964, 0.989180862903595, 0.6782557368278503, 0.506832480430603, 0.5601035356521606, 0.041417174596250154, -4.572562698550976e-06], "mean": [2.2257711412345493, -4.703980066854623, 0.7168664062601405, 0.0, 0.0, -0.0176021779825588, 0.9998387774039186, 0.289038010105899, -0.11550028340638802, 0.45039116563611725, -0.4301436182724278, -0.026248818519221274, -0.13515170805608595, 0.18132118624451907, 0.028107325833834556, -0.029779751695426824], "std": [0.0015774068671674407, 0.08458405706383565, 0.013191331664311788, 0.0, 0.0, 0.0035439659289650603, 3.3746561506127177e-05, 0.15239181781531852, 0.2453525341225265, 0.10313471462101853, 0.7038287150937618, 0.4034361027994696, 0.2817715654813085, 0.16004171746439458, 0.01569845829856682, 0.014838284273135447], "count": [1915]}, "action": {"min": [-0.2785714285714286, 0.0, -0.045714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3057142857142857, -0.7657142857142857, -0.35714285714285715, -1.0], "max": [0.0, 0.5142857142857143, 0.02, 0.0, 1.0, 0.5357142857142857, 1.0, 1.0, 0.3628571428571429, 0.6685714285714286, 0.4285714285714286, 1.0], "mean": [-0.0038418500559492677, 0.012420738530399104, -0.0005341290563222676, 0.0, -0.931070496083551, -0.03784408802685565, -0.05882133532264087, -0.08499440507273402, 0.0023543453935098856, 0.012926519955240592, 0.004725102573666539, -0.197911227154047], "std": [0.024987877501000514, 0.07087503753977666, 0.004264937142978959, 0.0, 0.3648393226102956, 0.37408771622148085, 0.35440969302159886, 0.362406329782751, 0.08096997345712943, 0.15620306440296408, 0.09959952762507124, 0.9802199478517073], "count": [1915]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008355091325938702], "std": [0.0910235345363617], "count": [1915]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005221932114882506], "std": [0.022845580004414997], "count": [1915]}, "timestamp": {"min": [0.0], "max": [95.7], "mean": [47.85], "std": [27.640640368848185], "count": [1915]}, "frame_index": {"min": [0], "max": [1914], "mean": [957.0], "std": [552.8128073769637], "count": [1915]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1915]}, "index": {"min": [141114], "max": [143028], "mean": [142071.0], "std": [552.8128073769637], "count": [1915]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1915]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46893445990279975]], [[0.45238876854549126]], [[0.44239286751446955]]], "std": [[[0.2830661515455872]], [[0.280142444993598]], [[0.2775770623806704]]], "count": [304]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5736010046566233]], [[0.566482492177233]], [[0.5582345763719242]]], "std": [[[0.22666680086889368]], [[0.22514576599267763]], [[0.22350415233060647]]], "count": [304]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6084233196404204]], [[0.6002025141681557]], [[0.5907096081350856]]], "std": [[[0.22302490114590015]], [[0.22201700075484643]], [[0.2208554350000251]]], "count": [304]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2049]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2049]}, "observation.state": {"min": [0.7387028813159252, -1.887255029010837, 0.6999964354024361, 0.0, 0.0, -1.0, 7.797781620411115e-08, 0.007697371724973534, -0.40272604788462485, 0.22485376072739194, -0.9930811524391174, -0.6701481938362122, -0.4010869562625885, 7.700594869675115e-05, 5.5786755110731434e-05, -0.04019484480296612], "max": [0.8804671363218014, -1.0229964967444853, 0.7286504975943568, 0.0, 0.0, 1.0, 0.06110984459519386, 0.4672464012813183, 0.5285706108250317, 0.6175604485251861, 0.9985376000404358, 0.6588319540023804, 0.6077730059623718, 0.6424325704574585, 0.041224707596410066, -0.0010074808180650628], "mean": [0.7548270510490623, -1.2718065458498535, 0.7184337517657776, 0.0, 0.0, 0.9820755230269239, 0.015050974133004186, 0.26085227436773567, 0.20456661162754172, 0.4107485319124976, -0.06082277393387608, 0.14210023559909904, 0.045011924287749604, 0.1434165585407307, 0.03640737977672754, -0.03433151581876209], "std": [0.024547272355057815, 0.3823057895316446, 0.009513866525312761, 0.0, 0.0, 0.18659647665052698, 0.021975452699953057, 0.1129947508394583, 0.29553553345247746, 0.09930489372617003, 0.8976298020495755, 0.28187374073299964, 0.21301108105590447, 0.15148578601079046, 0.008708955183472386, 0.010339091660651402], "count": [2049]}, "action": {"min": [-0.6964285714285715, -0.6428571428571429, -0.18571428571428572, 0.0, -1.0, -0.80625, -0.8651785714285715, -0.9375, -0.4314285714285714, -0.58, -0.4628571428571429, -1.0], "max": [0.6455357142857143, 0.7848214285714286, 0.07428571428571429, 0.0, 1.0, 0.6160714285714286, 0.8732142857142857, 0.6616071428571428, 0.16857142857142857, 0.6914285714285714, 0.44285714285714284, 1.0], "mean": [0.006778132189918429, 0.006848724116293658, -0.0014348462664714502, 0.0, -0.8204001952171791, -0.02697395942271489, 0.01809767830997698, -0.11491058355992466, -0.007110088544934818, 0.004526249738548424, 0.0003834623161123978, -0.5627135187896535], "std": [0.08162636579957111, 0.11832625204599924, 0.015539646816115811, 0.0, 0.5717897512964281, 0.26574268621883135, 0.27300510510229864, 0.3229676714460369, 0.0652132679211683, 0.1060449730542862, 0.10366078659124082, 0.8266519798387667], "count": [2049]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007808687165379524], "std": [0.08802108466625214], "count": [2049]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004880429477794046], "std": [0.022086302584645702], "count": [2049]}, "timestamp": {"min": [0.0], "max": [102.4], "mean": [51.2], "std": [29.574764017091777], "count": [2049]}, "frame_index": {"min": [0], "max": [2048], "mean": [1024.0], "std": [591.4952803418356], "count": [2049]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [2049]}, "index": {"min": [143029], "max": [145077], "mean": [144053.0], "std": [591.4952803418356], "count": [2049]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2049]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5478688636771722]], [[0.53618881370703]], [[0.530691566301565]]], "std": [[[0.23712421370090841]], [[0.2425027374329444]], [[0.24563425195798302]]], "count": [167]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5729624337176978]], [[0.5713840568374969]], [[0.5765814150220928]]], "std": [[[0.2915129626910534]], [[0.29316451524979786]], [[0.2881107312330059]]], "count": [167]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5443984689742757]], [[0.5421358605456825]], [[0.5475761736952336]]], "std": [[[0.29904740953544307]], [[0.3002111871056124]], [[0.29383953284798653]]], "count": [167]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [926]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [926]}, "observation.state": {"min": [5.280072554400801, -1.0100315490309197, 0.6999821624461224, 0.0, 0.0, -0.00026112564955838025, 0.9999997615814209, 0.0539863774121665, -0.55181337251344, 0.22546317289027584, -0.9997227787971497, -0.7873028516769409, -0.3456827998161316, 6.417117401724681e-05, 0.001284112889381773, -0.042293427098696705], "max": [5.282329261447748, -1.0092863978908746, 0.7093817991116672, 0.0, 0.0, 0.0007495275349356234, 1.0, 0.4986680566710602, 0.22016113373369128, 0.5926021356679961, 0.9955555200576782, 0.952152669429779, 0.24404504895210266, 0.7972733378410339, 0.041460111528184636, -0.0026344733447903053], "mean": [5.282288028558298, -1.009840821653859, 0.7059725351184702, 0.0, 0.0, 0.00014918118220375774, 0.9999999992275856, 0.2437213993628828, -0.13008710915226854, 0.3835414887045926, -0.4447621670642115, 0.42806308652972297, -0.05368271523757966, 0.28122579446649393, 0.03384631701160622, -0.03237399457947315], "std": [0.00016379577246169514, 4.6535614943865185e-05, 0.003066319770265249, 0.0, 0.0, 5.8410432812947305e-05, 1.2363993275544716e-08, 0.0966205925049713, 0.16781903424430167, 0.07110070525272437, 0.5022819604440741, 0.46170566419801196, 0.11804583833557332, 0.23996816687137393, 0.010437869928855264, 0.009951329576403649], "count": [926]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.41428571428571437, -0.44857142857142857, -0.5114285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.6828571428571428, 0.6228571428571429, 0.3942857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0067494600431965346, 0.039162295587781525, -0.06035945695772903, 0.004103671706263488, 0.035809935205183614, -0.009049676025917944, -0.4427645788336933], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.450219981147709, 0.4135278329578669, 0.4472643035081148, 0.13724932039687757, 0.15668341751428755, 0.13377343762517852, 0.896637902238258], "count": [926]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01727861724793911], "std": [0.13030758500099182], "count": [926]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010799136069114472], "std": [0.03284429012040076], "count": [926]}, "timestamp": {"min": [0.0], "max": [46.25], "mean": [23.125], "std": [13.365650938132418], "count": [926]}, "frame_index": {"min": [0], "max": [925], "mean": [462.5], "std": [267.31301876264837], "count": [926]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [926]}, "index": {"min": [145078], "max": [146003], "mean": [145540.5], "std": [267.31301876264837], "count": [926]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [926]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46933064542918845]], [[0.4513997401877615]], [[0.4297467901721334]]], "std": [[[0.27236699731619146]], [[0.2672027694703366]], [[0.2594013294113101]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5989601176052808]], [[0.5940314873347639]], [[0.5842177613368481]]], "std": [[[0.2212959736109563]], [[0.22255727846825094]], [[0.21917376887395099]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5806011635894988]], [[0.5759515739285278]], [[0.5673405711309442]]], "std": [[[0.24017316165008526]], [[0.24100055300571288]], [[0.2383380386024732]]], "count": [198]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1158]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1158]}, "observation.state": {"min": [0.7797841909848376, -1.3962652707795113, 0.6999975073810755, 0.0, 0.0, -1.0, 7.78963453740289e-08, -0.06267056777985913, -0.4801720971781984, 0.23679547730517936, -0.9867576360702515, -0.2962160110473633, -0.3497345447540283, 0.0011710573453456163, 0.00157334343663355, -0.041231351175165375], "max": [0.8063785798366006, -1.0418753940514665, 0.7061903409504077, 0.0, 0.0, 1.0, 0.003344076918438077, 0.4943070929371565, 0.45088266622051343, 0.7055578490753, 0.9802906513214111, 0.9957059621810913, 0.37472379207611084, 0.7093913555145264, 0.040200224456528065, -0.0006196608629532919], "mean": [0.7820118910763157, -1.3869764994632139, 0.7040445936529671, 0.0, 0.0, 0.979271463882532, 0.002472580680013007, 0.24940281180155316, -0.18512924649861834, 0.4482526946290615, -0.2838735083472052, 0.517679428408286, -0.09410104949496982, 0.26582136502210374, 0.032767075825533766, -0.03143588935817999], "std": [0.005770299875329894, 0.05052633069332654, 0.0019627544394391263, 0.0, 0.0, 0.202536675698382, 0.0004992219396175456, 0.11494960206963648, 0.2555977231515719, 0.09870574047538892, 0.6605363043253201, 0.27646994438125116, 0.12471395741488461, 0.20883107132258125, 0.011679802291063504, 0.011570495113008646], "count": [1158]}, "action": {"min": [-0.09285714285714286, 0.0, -0.02, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6485714285714286, -0.6457142857142857, -0.5114285714285715, -1.0], "max": [0.45714285714285713, 0.6428571428571428, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5771428571428572, 0.5628571428571428, 0.4742857142857143, 1.0], "mean": [0.007438934122871949, 0.017493214902541326, -0.0002195904268443129, 0.0, -0.8583765112262521, 0.01017147791759189, -0.006328645447816396, -0.025487293362941015, -0.00906735751295339, 0.001381692573402423, 0.027431532198371602, -0.3920552677029361], "std": [0.051025752317587325, 0.0832830451580328, 0.0017291887738307926, 0.0, 0.5130202383678966, 0.4363834242494892, 0.4510830860303018, 0.39272445275780515, 0.1815925172291597, 0.13046793792274125, 0.14199487313786122, 0.9199416650344606], "count": [1158]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013816925697028637], "std": [0.11673053354024887], "count": [1158]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008635578583765112], "std": [0.029373663819853107], "count": [1158]}, "timestamp": {"min": [0.0], "max": [57.85], "mean": [28.925], "std": [16.714284060846477], "count": [1158]}, "frame_index": {"min": [0], "max": [1157], "mean": [578.5], "std": [334.28568121692956], "count": [1158]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [1158]}, "index": {"min": [146004], "max": [147161], "mean": [146582.5], "std": [334.28568121692956], "count": [1158]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1158]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48892665783224737]], [[0.4608008959792454]], [[0.43633892699914506]]], "std": [[[0.2714396042644807]], [[0.26065259519802475]], [[0.26288725781798805]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5952802029819761]], [[0.5852620155216635]], [[0.5719165388732637]]], "std": [[[0.2125848167596544]], [[0.21064809130175932]], [[0.21257233632428352]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6110440768499811]], [[0.6010595536647249]], [[0.5904597240309685]]], "std": [[[0.21419063846422742]], [[0.21379720637152766]], [[0.21391945069685392]]], "count": [179]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1009]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1009]}, "observation.state": {"min": [0.7653108566184835, -1.4960743736067799, 0.6999977426660916, 0.0, 0.0, -1.0, 7.959132375390254e-08, 0.06631374755911024, -0.2949705192931221, 0.22807285629694318, -0.992057740688324, -0.9984521269798279, -0.5047117471694946, 0.000657979806419462, -0.0019450825137952022, -0.040536925920892954], "max": [0.8325877534785566, -1.212979739065976, 0.7125399538082923, 0.0, 0.0, 1.0, 0.08993784338235855, 0.594952699187353, 0.4933758074497796, 0.7364662260459645, 0.9927236437797546, 0.9989823698997498, 0.5101941823959351, 0.7522373199462891, 0.04124639450705449, -0.0005773800637441294], "mean": [0.8108670508657273, -1.3046438570020786, 0.7080827989947224, 0.0, 0.0, 0.16061424387930878, 0.02480003187997306, 0.3343451554168577, 0.11022544274368806, 0.4464498803408254, 0.10787407675187696, 0.45953161778192453, 0.06954925833108426, 0.2430362570085918, 0.032977390886763415, -0.03461424207408246], "std": [0.02248887612400212, 0.1288682203784951, 0.004164189086968796, 0.0, 0.0, 0.9860732320169969, 0.03532201646698916, 0.10108284285362772, 0.16594997801511924, 0.12351407448211821, 0.31102040212157894, 0.7225444846282076, 0.19540184588508236, 0.2372847575144297, 0.011094931957683855, 0.01020559013054928], "count": [1009]}, "action": {"min": [-0.29285714285714287, 0.0, -0.2885714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5257142857142857, -0.5885714285714285, -0.5142857142857142, -1.0], "max": [0.5142857142857143, 0.6857142857142858, 0.06571428571428571, 0.0, 1.0, 1.0, 1.0, 1.0, 0.42, 0.8514285714285714, 0.5685714285714286, 1.0], "mean": [0.005217329746566616, 0.01713860965595356, -0.004604275803482941, 0.0, -0.8929633300297324, -0.018632309217046575, 0.018073056774741577, -0.06881636698286846, 0.0013252159139176068, 0.03165227240549337, 0.03819340223700973, -0.557978196233895], "std": [0.05577828613519985, 0.08448671420218588, 0.03197758496720514, 0.0, 0.45012941608187673, 0.4711499551394783, 0.36251999998863366, 0.5021508749161948, 0.11682791010864954, 0.22092290967053949, 0.11148444950711277, 0.8298556094451393], "count": [1009]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015857284888625145], "std": [0.12492331117391586], "count": [1009]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009910802775024777], "std": [0.03146582332286926], "count": [1009]}, "timestamp": {"min": [0.0], "max": [50.4], "mean": [25.2], "std": [14.56365338780074], "count": [1009]}, "frame_index": {"min": [0], "max": [1008], "mean": [504.0], "std": [291.2730677560148], "count": [1009]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1009]}, "index": {"min": [147162], "max": [148170], "mean": [147666.0], "std": [291.2730677560148], "count": [1009]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1009]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48819393064224803]], [[0.4628596715105766]], [[0.43552645382439714]]], "std": [[[0.24232482472860317]], [[0.23292137009452235]], [[0.23839773256982189]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5480289439345507]], [[0.3736437549718884]], [[0.3320214490021805]]], "std": [[[0.23126928659665483]], [[0.2742401321770564]], [[0.2983836951169418]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541552242791277]], [[0.37974691043038555]], [[0.3410174860496265]]], "std": [[[0.23476731149828758]], [[0.28152936899144115]], [[0.30669493634860984]]], "count": [158]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [858]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [858]}, "observation.state": {"min": [5.573046304172529, -3.930814604993186, 0.6999957663362825, 0.0, 0.0, -0.7151064276695251, 0.6990155577659607, 0.05876438714065335, -0.5466413884550727, 0.2375867121808627, -0.9983365535736084, -0.7736198902130127, -0.6430052518844604, 8.329106640303507e-05, 0.0013511802312295154, -0.04140741943061817], "max": [5.871233290132048, -3.830238487527224, 0.7094860802488865, 0.0, 0.0, -0.7029094696044922, 0.7112793326377869, 0.46508574258985735, 0.3885928161641763, 0.6015302384552758, 0.999373197555542, 0.7824662327766418, 0.6248984336853027, 0.7370654940605164, 0.04039693056025749, -0.008782913729810752], "mean": [5.773534386843823, -3.8642489928500434, 0.705702418242469, 0.0, 0.0, -0.7081444204409362, 0.7060484311658464, 0.2584873796555862, -0.0690370960722812, 0.40010382949044654, -0.34408836163979867, 0.20401855765262267, -0.040534378682851514, 0.1947794987134029, 0.03289805453240957, -0.03446567173316714], "std": [0.13664445182743085, 0.043491240792090206, 0.003205938599151428, 0.0, 0.0, 0.0036774965243545035, 0.003683963853427304, 0.11804104173925209, 0.22305867777171984, 0.0832969361667933, 0.7930110486933452, 0.2793963046716731, 0.2174562087409401, 0.2148988496473904, 0.011556030857627912, 0.01006142308703239], "count": [858]}, "action": {"min": [0.0, -0.8214285714285715, -0.03428571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.66, -0.30285714285714294, -0.4942857142857143, -1.0], "max": [0.55, 0.0, 0.005714285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.8657142857142858, 0.5657142857142857, 0.5228571428571429, 1.0], "mean": [0.01599234099234099, -0.02541625041625042, -4.329004329004329e-05, 0.0, -0.8764568764568764, -0.003246753246753252, 0.013078588078588037, -0.03141025641025636, -0.002370962370962365, 0.0347752247752248, -0.009620379620379637, -0.5104895104895105], "std": [0.07709694023476894, 0.11954912338765597, 0.0013331538470471372, 0.0, 0.4814803669013505, 0.5127042325171071, 0.4252832354099457, 0.4429293412702572, 0.19945287315608987, 0.1312317299449504, 0.1713933073160925, 0.8598839803602435], "count": [858]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018648019060492516], "std": [0.13527849316596985], "count": [858]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011655011655011655], "std": [0.03411953652285419], "count": [858]}, "timestamp": {"min": [0.0], "max": [42.85], "mean": [21.424999999999997], "std": [12.38415486283447], "count": [858]}, "frame_index": {"min": [0], "max": [857], "mean": [428.5], "std": [247.68309725668942], "count": [858]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [858]}, "index": {"min": [148171], "max": [149028], "mean": [148599.5], "std": [247.68309725668942], "count": [858]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [858]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5030648092538148]], [[0.4887282218830864]], [[0.4767541578381366]]], "std": [[[0.26216480859994196]], [[0.26389526378833983]], [[0.2653667913540751]]], "count": [278]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5122086729312552]], [[0.4225613553562022]], [[0.34975180370983544]]], "std": [[[0.2178987702496216]], [[0.2512253549664915]], [[0.2799402766581716]]], "count": [278]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420410179927061]], [[0.44808773471801605]], [[0.3712839805418992]]], "std": [[[0.22256701485498204]], [[0.26551287621486036]], [[0.29659165297065426]]], "count": [278]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1816]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1816]}, "observation.state": {"min": [4.820005672269379, -6.730635034103117, 0.6999968178999526, 0.0, 0.0, -0.03151402249932289, 0.9995033740997314, 0.12174917133665009, -0.34651966664895895, 0.2221708315451113, -0.9985975623130798, -0.7760148048400879, -0.5199493169784546, 0.0004439442418515682, 0.004946934683269651, -0.041095390784258966], "max": [4.835865642138543, -6.288301272877926, 0.7188206020673822, 0.0, 0.0, 0.00015090049419086426, 1.0, 0.5234217638258736, 0.4322848136988586, 0.5977457942544313, 0.9975283145904541, 0.7779234647750854, 0.18321678042411804, 0.5676713585853577, 0.040592443530625376, -0.014688438571823682], "mean": [4.820288393215759, -6.294370517486777, 0.713046804132809, 0.0, 0.0, -0.030850821225749114, 0.9995201603234602, 0.3528713209595113, -0.159301652533272, 0.40345580051315144, -0.31212985820838535, 0.10303907712617898, -0.1312264171378285, 0.15039450892011735, 0.03637524216307552, -0.03633753503841584], "std": [0.0016915138142128295, 0.04573976258539113, 0.005480315936218789, 0.0, 0.0, 0.002761727974187197, 4.808495462020025e-05, 0.09748332259471935, 0.21106677065405463, 0.08437260189371544, 0.8473769020899198, 0.29668675323250293, 0.15881660676809886, 0.14431097975844567, 0.00843645295215925, 0.007879514323155213], "count": [1816]}, "action": {"min": [-0.36428571428571427, 0.0, -0.14857142857142858, 0.0, -1.0, -0.7580357142857144, -0.7312500000000001, -0.9375, -0.38285714285714284, -0.4285714285714286, -0.56, -1.0], "max": [0.0, 0.6616071428571428, 0.0, 0.0, 1.0, 0.5357142857142857, 0.9375, 0.91875, 0.34285714285714286, 0.48, 0.6028571428571429, 1.0], "mean": [-0.0027154460352422903, 0.009180302076777846, -0.0009502831969792322, 0.0, -0.9427312775330396, -0.0077348174952800485, -0.0016770571113908044, -0.08838990717432366, 0.0021727501573316575, 0.011612649465072374, 0.0016472624292007613, -0.7169603524229075], "std": [0.025027552120208275, 0.07138227771248175, 0.009461617559032359, 0.0, 0.33355320169492536, 0.2699310477070003, 0.2530232378051176, 0.29421835927059875, 0.08284582508832797, 0.10819249774957089, 0.12380972197896234, 0.697113945530882], "count": [1816]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008810572326183319], "std": [0.09345023334026337], "count": [1816]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005506607929515419], "std": [0.023459700885617614], "count": [1816]}, "timestamp": {"min": [0.0], "max": [90.75], "mean": [45.375], "std": [26.211698247156747], "count": [1816]}, "frame_index": {"min": [0], "max": [1815], "mean": [907.5], "std": [524.2339649431349], "count": [1816]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1816]}, "index": {"min": [149029], "max": [150844], "mean": [149936.5], "std": [524.2339649431349], "count": [1816]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1816]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424498743980936]], [[0.5278124923226218]], [[0.5143157800920707]]], "std": [[[0.2472388174416377]], [[0.25393754209659686]], [[0.265229935728994]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5717386245492325]], [[0.4922594558503187]], [[0.4419556759217912]]], "std": [[[0.1963140901546541]], [[0.23807622092627628]], [[0.27586302130102913]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5876284237192567]], [[0.5043589307959329]], [[0.4520765855200915]]], "std": [[[0.1911309547945688]], [[0.24143701427422143]], [[0.28334640184947363]]], "count": [159]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [865]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [865]}, "observation.state": {"min": [0.43450214981527924, -0.8304498357822994, 0.6999984612510864, 0.0, 0.0, 0.6956904530525208, 0.7066581845283508, 0.09410789915778495, -0.5112826276399525, 0.22534657547001125, -0.9996787309646606, -0.549125611782074, -0.4340498745441437, 1.322418847848894e-05, 0.0018035038624217305, -0.04091655737170025], "max": [0.6902798259963733, -0.7899214910578717, 0.7074810008994816, 0.0, 0.0, 0.7075550556182861, 0.7183416485786438, 0.5167542725864551, 0.416505745540415, 0.6193916137999272, 0.999407947063446, 0.8030975461006165, 0.4338635504245758, 0.6071786284446716, 0.04121592928298895, -0.0013574510984738198], "mean": [0.6833677249883142, -0.7932185080263371, 0.7029087223604576, 0.0, 0.0, 0.7001719924755868, 0.7139718791652966, 0.2885453174048802, 0.14258882188350047, 0.4279583239774071, 0.18517538226408767, 0.24212426344051183, -0.0074949137779017315, 0.16098356655242704, 0.032274804962261615, -0.03517218164375866], "std": [0.0372411167100369, 0.00749264135136727, 0.0026728187382275073, 0.0, 0.0, 0.0012993170498649816, 0.0012838845534679684, 0.093732040607935, 0.2690649825994091, 0.10771111718483158, 0.8475115666896088, 0.33906052117391355, 0.13490667999081446, 0.17226821195346997, 0.011046749079262147, 0.009602069198457906], "count": [865]}, "action": {"min": [0.0, -0.7071428571428572, -0.12, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3628571428571429, -0.34285714285714286, -0.5971428571428572, -1.0], "max": [0.5428571428571429, 0.0, 0.014285714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.25142857142857145, 0.7542857142857143, 0.40571428571428575, 1.0], "mean": [0.01051197357555739, -0.015598678777869527, -0.0010107349298100743, 0.0, -0.8751445086705202, 0.026201486374896797, 0.05144508670520225, -0.019859620148637444, -0.0032667217175887625, 0.0246275805119736, -0.014255986787778705, -0.4658959537572254], "std": [0.060284976606687496, 0.08098855916272067, 0.009058941014622006, 0.0, 0.48386164235639456, 0.44862245575182497, 0.5262474630047782, 0.3918089210545167, 0.0835905480696073, 0.1354790299925911, 0.1825754670509948, 0.8848395110259474], "count": [865]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018497109413146973], "std": [0.13474036753177643], "count": [865]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011560693641618498], "std": [0.03398136059352386], "count": [865]}, "timestamp": {"min": [0.0], "max": [43.2], "mean": [21.6], "std": [12.485191228010885], "count": [865]}, "frame_index": {"min": [0], "max": [864], "mean": [432.0], "std": [249.70382456021773], "count": [865]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [865]}, "index": {"min": [150845], "max": [151709], "mean": [151277.0], "std": [249.70382456021773], "count": [865]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [865]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4840326504261124]], [[0.46727340194811434]], [[0.45664165121044675]]], "std": [[[0.26693448421291854]], [[0.2643831672848253]], [[0.26479072008084553]]], "count": [334]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6444365654246998]], [[0.6232607741275835]], [[0.6039041495650702]]], "std": [[[0.21102291692925315]], [[0.21236652957650456]], [[0.21438143761872672]]], "count": [334]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6510280095398587]], [[0.6330256205119059]], [[0.6147045245231618]]], "std": [[[0.20908949290736575]], [[0.20856074752338832]], [[0.20918935438163647]]], "count": [334]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2322]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2322]}, "observation.state": {"min": [0.8006552981938155, -2.4699749108436375, 0.6999953150491036, 0.0, 0.0, -1.0, 0.0, 0.15220186343423936, -0.46261446514918725, 0.2300817837660344, -0.9984676241874695, -0.7406632900238037, -0.6328299045562744, 1.1974669178016484e-05, -3.98427839606307e-05, -0.04855850667589062], "max": [0.9330570248957625, -1.845092164053521, 0.7198606165175324, 0.0, 0.0, 1.0, 0.0423525795340538, 0.5290227083910796, 0.4148430374533374, 0.5941617449283094, 0.9907655119895935, 0.8313350081443787, 0.6552095413208008, 0.5765232443809509, 0.041382742077254786, -0.001009537697103457], "mean": [0.8124971301997234, -2.001679999143239, 0.7131755963827227, 0.0, 0.0, -0.4127866159627193, 0.010246284934031803, 0.29671118986706096, 0.15199099109791164, 0.4118952113694848, -0.06476795588660918, 0.18599975999832974, 0.057826554708693266, 0.11057406054722152, 0.03724341322524117, -0.03626263129212372], "std": [0.013665021259067637, 0.26244428055146357, 0.006293883930332036, 0.0, 0.0, 0.9105958974315264, 0.017814422618876922, 0.08946786346321825, 0.25679798374629376, 0.08634759045585386, 0.8515641144755857, 0.3576476028187979, 0.2729278707606326, 0.13444625728176335, 0.006954089421881644, 0.007806105511791268], "count": [2322]}, "action": {"min": [-0.7044642857142857, -0.6910714285714286, -0.19142857142857142, 0.0, -1.0, -0.8223214285714285, -0.7901785714285714, -0.9375, -0.4742857142857143, -0.4314285714285714, -0.3514285714285714, -1.0], "max": [0.4741071428571428, 0.8357142857142857, 0.0, 0.0, 1.0, 0.7017857142857142, 0.6830357142857143, 0.7446428571428572, 0.3514285714285714, 0.4228571428571429, 0.5885714285714285, 1.0], "mean": [0.0010681985972683654, 0.004556570690291622, -0.0009917558754768058, 0.0, -0.8828596037898363, -0.006344592100406053, 0.02132013658176447, -0.07419135289774834, -0.007466469792051189, 0.002715639227267143, -0.005471883843976868, -0.5925925925925926], "std": [0.04841556964414382, 0.09893543411137767, 0.01120148224779003, 0.0, 0.469637008758951, 0.24191810756010093, 0.2390671146544432, 0.29320638678916794, 0.07958258960860357, 0.08869457425686454, 0.10059864557263083, 0.805502339664126], "count": [2322]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006890611723065376], "std": [0.0827232226729393], "count": [2322]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004306632213608958], "std": [0.02074795774409286], "count": [2322]}, "timestamp": {"min": [0.0], "max": [116.05], "mean": [58.02499999999999], "std": [33.515180018413545], "count": [2322]}, "frame_index": {"min": [0], "max": [2321], "mean": [1160.5], "std": [670.303600368271], "count": [2322]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [2322]}, "index": {"min": [151710], "max": [154031], "mean": [152870.5], "std": [670.303600368271], "count": [2322]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2322]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.578508105309181]], [[0.5516410947313495]], [[0.5452024958492105]]], "std": [[[0.24108936024046354]], [[0.2585576860533276]], [[0.2582303590942626]]], "count": [240]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4733432081633923]], [[0.4742593705420401]], [[0.4823510410583097]]], "std": [[[0.22518162878289877]], [[0.2269937780889138]], [[0.2206478097142714]]], "count": [240]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.409625446843166]], [[0.4068022130829057]], [[0.41737542345632916]]], "std": [[[0.28663273999613975]], [[0.2883522896295054]], [[0.281545530711656]]], "count": [240]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1495]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1495]}, "observation.state": {"min": [0.8400338581120447, -3.9443244368088397, 0.6999992170253556, 0.0, 0.0, -1.0, 8.838977919367608e-06, -0.08217784434707753, -0.7424819147652242, 0.24343683497233515, -0.9946137070655823, -0.9630894660949707, -0.5370312333106995, 2.157054723284091e-06, 0.020538603741601755, -0.040707933188373], "max": [0.8403600376209205, -3.943906963971473, 0.707373307254214, 0.0, 0.0, 1.0, 0.00032282236497849226, 0.4757657104064284, 0.0006065108705826106, 0.6504245749267725, 0.9999443292617798, 0.964552104473114, 0.43846800923347473, 0.678699791431427, 0.0413512162111163, -0.02052795589659636], "mean": [0.8402143074203969, -3.9439460288191603, 0.7036148267861071, 0.0, 0.0, 0.9839464882943144, 0.00014873479854472817, 0.2583476583143317, -0.1986414313833872, 0.4387542464606591, -0.26376734317838485, 0.164342451230763, -0.11116765624924133, 0.15923031151602607, 0.038919589079136306, -0.039318600180528664], "std": [1.598462188799416e-05, 3.116707380543391e-05, 0.0024492387066291565, 0.0, 0.0, 0.17846374470263376, 2.220223688829274e-05, 0.13012391074955354, 0.21001855517746731, 0.09036326690664863, 0.7613683979235022, 0.4228605562551131, 0.246417201656005, 0.21561885153086302, 0.00252419927726521, 0.0016980429365939553], "count": [1495]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.76, -0.5257142857142857, -0.5628571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8928571428571429, 1.0, 1.0, 0.8114285714285715, 0.6, 0.45999999999999996, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013392259913999036, -0.0075537505972288616, -0.023621595795508814, 0.009528905876731978, 0.007214524605828937, -0.003099856665074071, -0.5745819397993311], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.37692321246349353, 0.2839856361531114, 0.30639221355678986, 0.17607558993702677, 0.15386505995597305, 0.11678752843291046, 0.8184470627086496], "count": [1495]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010702340863645077], "std": [0.102897047996521], "count": [1495]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006688963210702341], "std": [0.025854378715836374], "count": [1495]}, "timestamp": {"min": [0.0], "max": [74.7], "mean": [37.35], "std": [21.578461483618334], "count": [1495]}, "frame_index": {"min": [0], "max": [1494], "mean": [747.0], "std": [431.5692296723667], "count": [1495]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1495]}, "index": {"min": [154032], "max": [155526], "mean": [154779.0], "std": [431.5692296723667], "count": [1495]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1495]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5079000315946691]], [[0.4950608330354711]], [[0.48921076257244434]]], "std": [[[0.24388824022116895]], [[0.24697196379460973]], [[0.24838249074960225]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.0392156862745098]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530928750962733]], [[0.472437625128719]], [[0.42347299646448205]]], "std": [[[0.19678047441903124]], [[0.23434484670651487]], [[0.26823409443320656]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.07058823529411765]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5026523046555862]], [[0.44164616703207976]], [[0.4052639820373136]]], "std": [[[0.19254198051950222]], [[0.21514651550615763]], [[0.2389844064305164]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1017]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1017]}, "observation.state": {"min": [4.860065351390033, -6.63980786169238, 0.6999957063480963, 0.0, 0.0, -0.00014953984646126628, 1.0, 0.07386557232329238, -0.007988435184754117, 0.22438429432539575, -0.989921510219574, -0.7433182597160339, -0.42040663957595825, 0.00038753135595470667, 0.002615644141380126, -0.04108567086201033], "max": [4.860484499865275, -6.6392698003237305, 0.7155170061385431, 0.0, 0.0, 0.00029064377304166555, 1.0, 0.481481964392767, 0.6932711681871471, 0.5986873284782397, 0.9901880621910095, 0.9993669390678406, 0.23281463980674744, 0.46987977623939514, 0.04143015421934726, -0.000627088631230694], "mean": [4.860445786411171, -6.639472823756576, 0.7086464426271484, 0.0, 0.0, 0.00014799243859623737, 1.0, 0.283155471714369, 0.21676753126335024, 0.3931720024468677, -0.09941834046661728, 0.7888191718326089, -0.06253855278150128, 0.18702711605314887, 0.03318214582740443, -0.03280519974674649], "std": [5.591053849990348e-05, 3.203613642191647e-05, 0.005298800104195407, 0.0, 0.0, 3.47069310958145e-05, 0.0, 0.09498941959238114, 0.18145706511302734, 0.08274239752405306, 0.43369858949802376, 0.3219344874594714, 0.13858157627627374, 0.13434639196763573, 0.011081455029582158, 0.012074400327401832], "count": [1017]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5657142857142857, -0.26, -0.5771428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.24285714285714288, 0.6685714285714286, 0.5142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004677623261694077, -0.00270403146509343, -0.06739710633515952, -0.015322376738305943, 0.02865571007163928, 0.0224160696727069, -0.5162241887905604], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.40136910372642987, 0.35254771431780607, 0.3980076522858878, 0.08581354532934105, 0.1421128840048167, 0.13579187683055274, 0.8564534937213584], "count": [1017]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015732547268271446], "std": [0.12443887442350388], "count": [1017]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009832841691248771], "std": [0.031341941888907036], "count": [1017]}, "timestamp": {"min": [0.0], "max": [50.8], "mean": [25.4], "std": [14.679123497902275], "count": [1017]}, "frame_index": {"min": [0], "max": [1016], "mean": [508.0], "std": [293.58246995804546], "count": [1017]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1017]}, "index": {"min": [155527], "max": [156543], "mean": [156035.0], "std": [293.58246995804546], "count": [1017]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1017]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5487083114895254]], [[0.5381500786600781]], [[0.5298708084718811]]], "std": [[[0.2396974880006664]], [[0.24748655815010542]], [[0.25801199615738535]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.552077323489952]], [[0.46656056313761995]], [[0.4121647548693013]]], "std": [[[0.20339818624616962]], [[0.2420497576350434]], [[0.27797466057613357]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5852351348916099]], [[0.5069525239317763]], [[0.457585622470458]]], "std": [[[0.19766010984969062]], [[0.2453550124351093]], [[0.2860261843093955]]], "count": [214]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1286]}, "annotation.human.task_name": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1286]}, "observation.state": {"min": [0.7478556839739944, -3.909363941839086, 0.6999943925832242, 0.0, 0.0, -1.0, 3.5966886571259238e-06, -0.0830661315363358, -0.5475013155387205, 0.23053775721721792, -0.9891905188560486, -0.9933995008468628, -0.2642166316509247, 0.00018999155145138502, 0.008580708196467227, -0.040824679103271665], "max": [0.8034238045234314, -3.5566968147477778, 0.7079401824677722, 0.0, 0.0, 1.0, 0.013617593795061111, 0.43237162377989735, 0.43949213483628347, 0.613650591566762, 0.9984821677207947, 0.9540746212005615, 0.418146014213562, 0.5216678977012634, 0.042901616731945445, -0.0006591799247045485], "mean": [0.7572241449738644, -3.569804742204145, 0.7034020951865458, 0.0, 0.0, -0.9454834108960758, 0.01260339855175382, 0.24396353608684754, 0.15754838406237934, 0.4219134367966444, 0.36221851636822194, 0.21777506518825124, 0.05728142718011155, 0.15730429109206573, 0.03441634689910498, -0.0336255556583297], "std": [0.009709962553022663, 0.05168941471470024, 0.0023121192024376314, 0.0, 0.0, 0.3254115022870079, 0.003109343848798494, 0.09558315556350626, 0.285702633992919, 0.09889869701645242, 0.6870314007807927, 0.515355723447016, 0.17534632502726485, 0.15810110256250565, 0.008899358767294797, 0.009972945463932984], "count": [1286]}, "action": {"min": [0.0, -0.8714285714285716, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5342857142857143, -0.3485714285714286, -0.4028571428571428, -1.0], "max": [0.4, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.23428571428571432, 0.5657142857142857, 0.4971428571428572, 1.0], "mean": [0.008792490557653857, -0.027455009997778265, 0.0, 0.0, -0.8491446345256609, -0.052443901355254396, 0.037058431459675675, -0.03772495001110867, -0.01368140413241503, 0.01805820928682513, -0.013048211508553656, -0.4105754276827372], "std": [0.046061779938681505, 0.11556156864381331, 0.0, 0.0, 0.5281603825129976, 0.4194000077597646, 0.43132771286014215, 0.41712906334444627, 0.10492631234718297, 0.13414420558144502, 0.13238026971582098, 0.9118266382285262], "count": [1286]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012441679835319519], "std": [0.11084621399641037], "count": [1286]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007776049766718507], "std": [0.027874725239401116], "count": [1286]}, "timestamp": {"min": [0.0], "max": [64.25], "mean": [32.125], "std": [18.561805542565086], "count": [1286]}, "frame_index": {"min": [0], "max": [1285], "mean": [642.5], "std": [371.23611085130176], "count": [1286]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1286]}, "index": {"min": [156544], "max": [157829], "mean": [157186.5], "std": [371.23611085130176], "count": [1286]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1286]}}} diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/info.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..531efcc94b0ec5939a01371a6fe6bee2c3367ff2 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 103, + "total_frames": 157830, + "total_tasks": 14, + "total_videos": 309, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:103" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/modality.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/stats.json b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..26f7b7aff1d4b48b4335c7460a994faff93463e0 --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 4.156364440917969 + ], + "std": [ + 3.1865601539611816 + ], + "min": [ + 0.0 + ], + "max": [ + 13.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 13.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 14.0 + ], + "std": [ + 0.0 + ], + "min": [ + 14.0 + ], + "max": [ + 14.0 + ], + "q01": [ + 14.0 + ], + "q99": [ + 14.0 + ] + }, + "observation.state": { + "mean": [ + 2.7289066314697266, + -2.4212024211883545, + 0.712293267250061, + 0.0, + 0.0, + 0.3434678614139557, + 0.5130091309547424, + 0.2873808741569519, + -0.047133758664131165, + 0.4073276221752167, + -0.17008483409881592, + 0.21390756964683533, + -0.04905201867222786, + 0.1555097997188568, + 0.03408515453338623, + -0.03457140922546387 + ], + "std": [ + 2.0279972553253174, + 1.7784126996994019, + 0.011158982291817665, + 0.0, + 0.0, + 0.6911041140556335, + 0.37568438053131104, + 0.11114472150802612, + 0.2782418131828308, + 0.09192632138729095, + 0.8044684529304504, + 0.40726810693740845, + 0.24443192780017853, + 0.16099540889263153, + 0.010976475663483143, + 0.010501982644200325 + ], + "min": [ + -0.7825522422790527, + -6.730635166168213, + 0.6997252702713013, + 0.0, + 0.0, + -1.0, + 0.0, + -0.12777435779571533, + -0.7915747165679932, + 0.18835029006004333, + -0.9999841451644897, + -0.9999709725379944, + -0.8317797780036926, + 2.157054723284091e-06, + -0.006021660752594471, + -0.0545225590467453 + ], + "max": [ + 7.319751262664795, + -0.7544824481010437, + 0.7678815722465515, + 0.0, + 0.0, + 1.0, + 1.0, + 0.619572639465332, + 0.6932711601257324, + 0.7958840727806091, + 0.9999887943267822, + 0.9997859001159668, + 0.8322609066963196, + 0.882197380065918, + 0.05378367006778717, + 0.002042560139670968 + ], + "q01": [ + 0.42592179775238037, + -6.589799880981445, + 0.6999986171722412, + 0.0, + 0.0, + -1.0, + 2.048239366558846e-06, + 0.029642334207892418, + -0.5465840697288513, + 0.22541119158267975, + -0.9968252182006836, + -0.9002625942230225, + -0.6255748867988586, + 0.0013434060383588076, + 0.00020717606821563095, + -0.04106589034199715 + ], + "q99": [ + 7.292801380157471, + -0.7681452631950378, + 0.7531688213348389, + 0.0, + 0.0, + 1.0, + 1.0, + 0.523090660572052, + 0.5042701363563538, + 0.6151213049888611, + 0.9965143799781799, + 0.990676760673523, + 0.5860231518745422, + 0.6499623656272888, + 0.04080459475517273, + -0.00037366439937613904 + ] + }, + "action": { + "mean": [ + 0.0025178163778036833, + 0.0006744537386111915, + -0.0003606058598961681, + 0.0, + -0.9185959696769714, + -0.01750180311501026, + 0.008299849927425385, + -0.0550495870411396, + 8.514230285072699e-05, + 0.019416941329836845, + 0.006434638984501362, + -0.47100043296813965 + ], + "std": [ + 0.04687148332595825, + 0.08036874234676361, + 0.007832380943000317, + 0.0, + 0.3950558006763458, + 0.34657758474349976, + 0.31238672137260437, + 0.3513377904891968, + 0.10279271751642227, + 0.13318952918052673, + 0.12966398894786835, + 0.8825812339782715 + ], + "min": [ + -1.0, + -1.0, + -0.3799999952316284, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.8142856955528259, + -0.8257142901420593, + -0.9971428513526917, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 0.24857142567634583, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9685714244842529, + 1.0, + 0.9085714221000671, + 1.0 + ], + "q01": [ + 0.0, + -0.18214285373687744, + 0.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.36000001430511475, + -0.3257142901420593, + -0.4000000059604645, + -1.0 + ], + "q99": [ + 0.15535713732242584, + 0.2973214387893677, + 0.0, + 0.0, + 1.0, + 0.7214285731315613, + 1.0, + 1.0, + 0.3199999928474426, + 0.5199999809265137, + 0.4457142949104309, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.010511309839785099 + ], + "std": [ + 0.1019844189286232 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0006526008946821094 + ], + "std": [ + 0.025537719950079918 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 42.33218765258789 + ], + "std": [ + 27.967208862304688 + ], + "min": [ + 0.0 + ], + "max": [ + 127.3499984741211 + ], + "q01": [ + 0.75 + ], + "q99": [ + 108.5999984741211 + ] + }, + "frame_index": { + "mean": [ + 846.643798828125 + ], + "std": [ + 559.34423828125 + ], + "min": [ + 0.0 + ], + "max": [ + 2547.0 + ], + "q01": [ + 15.0 + ], + "q99": [ + 2172.0 + ] + }, + "episode_index": { + "mean": [ + 50.99091339111328 + ], + "std": [ + 29.107492446899414 + ], + "min": [ + 0.0 + ], + "max": [ + 102.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 101.0 + ] + }, + "index": { + "mean": [ + 78914.5 + ], + "std": [ + 45561.6015625 + ], + "min": [ + 0.0 + ], + "max": [ + 157829.0 + ], + "q01": [ + 1578.2899169921875 + ], + "q99": [ + 156250.71875 + ] + }, + "task_index": { + "mean": [ + 4.156364440917969 + ], + "std": [ + 3.1865601539611816 + ], + "min": [ + 0.0 + ], + "max": [ + 13.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 13.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/tasks.jsonl b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d527cd3ca41dd19061a5fc7228c77d9a405eb2c --- /dev/null +++ b/pretrain/composite/ToastOnCorrectRack/20250731/lerobot/meta/tasks.jsonl @@ -0,0 +1,15 @@ +{"task_index": 0, "task": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the steak on the bottom rack."} +{"task_index": 1, "task": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."} +{"task_index": 2, "task": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the steak on the bottom rack."} +{"task_index": 3, "task": "Open the toaster oven door. Place the bread on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."} +{"task_index": 4, "task": "Open the toaster oven door. Place the hotdog bun on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."} +{"task_index": 5, "task": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the steak on the bottom rack."} +{"task_index": 6, "task": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."} +{"task_index": 7, "task": "Open the toaster oven door. Place the baguette on the top rack in the toaster oven and place the chicken drumstick on the bottom rack."} +{"task_index": 8, "task": "Open the toaster oven door. Place the bread on the bottom rack in the toaster oven and place the steak on the top rack."} +{"task_index": 9, "task": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the steak on the top rack."} +{"task_index": 10, "task": "Open the toaster oven door. Place the baguette on the bottom rack in the toaster oven and place the chicken drumstick on the top rack."} +{"task_index": 11, "task": "Open the toaster oven door. Place the hotdog bun on the bottom tray in the toaster oven and place the chicken drumstick on the top tray."} +{"task_index": 12, "task": "Open the toaster oven door. Place the bread on the bottom tray in the toaster oven and place the chicken drumstick on the top tray."} +{"task_index": 13, "task": "Open the toaster oven door. Place the hotdog bun on the bottom rack in the toaster oven and place the steak on the top rack."} +{"task_index": 14, "task": "ToastOnCorrectRack"}