Hugging Face's logo

Datasets:
axisrobotics
/
AXIS-Datasets-v2-MultiEmbodiment

Dataset card Files
xet
 Community
Devon018 commited on
Commit
f8c2696
·
verified ·
1 Parent(s): df1090b

Upload folder using huggingface_hub

Browse files
Files changed (15) hide show
  1. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/data/chunk-000/file-000.parquet +3 -0
  2. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/axis_task_dataset.json +37 -0
  3. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/episodes/chunk-000/file-000.parquet +3 -0
  4. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/info.json +112 -0
  5. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/stats.json +799 -0
  6. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/tasks.parquet +3 -0
  7. Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/videos/observation.images.third_person/chunk-000/file-000.mp4 +3 -0
  8. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/data/chunk-000/file-000.parquet +3 -0
  9. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/axis_task_dataset.json +37 -0
  10. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/episodes/chunk-000/file-000.parquet +3 -0
  11. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/info.json +112 -0
  12. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/stats.json +799 -0
  13. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/tasks.parquet +3 -0
  14. Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/videos/observation.images.third_person/chunk-000/file-000.mp4 +3 -0
  15. Sawyer-837-rearrange_your_bathroom_4/task_manifest.json +2368 -0
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bd29d1a8a26a325d629eb6744afaaafef36f88a9cf1ef728c51538b946b550f
3
+ size 34335
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/axis_task_dataset.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_id": 837,
3
+ "task_name": "Rearrange Your Bathroom 4",
4
+ "embodiment_id": "sawyer",
5
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
6
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_fixed_task_837_sawyer_rearrange_your_bathroom_4",
7
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
8
+ "renderer_backend": "robosuite_table_arena_env_state_resampling",
9
+ "state_feature": "observation.state",
10
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
11
+ "action_feature": "action",
12
+ "action_semantics": "ctrl",
13
+ "camera_features": {
14
+ "third_person": {
15
+ "source_camera_name": "frontview",
16
+ "logical_camera_name": "frontview",
17
+ "image_feature": "observation.images.third_person",
18
+ "intrinsics_feature": "observation.cameras.third_person.intrinsics",
19
+ "camera_to_world_feature": "observation.cameras.third_person.camera_to_world",
20
+ "intrinsics_storage": "row_major_flat",
21
+ "intrinsics_source_shape": [
22
+ 3,
23
+ 3
24
+ ],
25
+ "camera_to_world_storage": "row_major_flat",
26
+ "camera_to_world_source_shape": [
27
+ 4,
28
+ 4
29
+ ],
30
+ "camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world"
31
+ }
32
+ },
33
+ "camera_feature_provenance": "dataset logical schema plus per-episode physical camera sidecars",
34
+ "episode_sidecar_dir": "meta/axis_episodes",
35
+ "attempt_commit_dir": "meta/axis_attempt_commits",
36
+ "camera_group": "fixed"
37
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7f01031f312088c53a52be830904a11cabaa0a7803e724446e4dd1118ee5c27
3
+ size 57041
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/info.json ADDED
@@ -0,0 +1,112 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "axis_robosuite",
4
+ "total_episodes": 1,
5
+ "total_frames": 366,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 9
21
+ ],
22
+ "names": [
23
+ "state"
24
+ ]
25
+ },
26
+ "action": {
27
+ "dtype": "float32",
28
+ "shape": [
29
+ 9
30
+ ],
31
+ "names": [
32
+ "action"
33
+ ]
34
+ },
35
+ "observation.images.third_person": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 360,
39
+ 640,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channel"
46
+ ],
47
+ "info": {
48
+ "video.height": 360,
49
+ "video.width": 640,
50
+ "video.codec": "h264",
51
+ "video.pix_fmt": "yuv420p",
52
+ "video.is_depth_map": false,
53
+ "video.fps": 15,
54
+ "video.channels": 3,
55
+ "has_audio": false
56
+ }
57
+ },
58
+ "observation.cameras.third_person.intrinsics": {
59
+ "dtype": "float32",
60
+ "shape": [
61
+ 9
62
+ ],
63
+ "names": [
64
+ "row_major"
65
+ ]
66
+ },
67
+ "observation.cameras.third_person.camera_to_world": {
68
+ "dtype": "float32",
69
+ "shape": [
70
+ 16
71
+ ],
72
+ "names": [
73
+ "row_major"
74
+ ]
75
+ },
76
+ "timestamp": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "frame_index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "episode_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "index": {
98
+ "dtype": "int64",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "task_index": {
105
+ "dtype": "int64",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ }
111
+ }
112
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/stats.json ADDED
@@ -0,0 +1,799 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -0.24784940481185913,
5
+ -1.5670865774154663,
6
+ -1.0341784954071045,
7
+ 1.152219295501709,
8
+ 0.00031787846819497645,
9
+ 0.08850353956222534,
10
+ 0.8509567975997925,
11
+ -0.00016816204879432917,
12
+ -0.030166875571012497
13
+ ],
14
+ "max": [
15
+ 0.6493276953697205,
16
+ -0.6461102962493896,
17
+ -0.061290543526411057,
18
+ 2.48996639251709,
19
+ 0.6034336686134338,
20
+ 1.6172351837158203,
21
+ 1.4146240949630737,
22
+ 0.040167178958654404,
23
+ 0.0001718644198263064
24
+ ],
25
+ "mean": [
26
+ -0.022463198751211166,
27
+ -0.9513529539108276,
28
+ -0.4545532763004303,
29
+ 1.6944493055343628,
30
+ 0.3420339524745941,
31
+ 0.9079865217208862,
32
+ 1.1061820983886719,
33
+ 0.003799246624112129,
34
+ -0.027182793244719505
35
+ ],
36
+ "std": [
37
+ 0.21506372094154358,
38
+ 0.21576355397701263,
39
+ 0.16072465479373932,
40
+ 0.3851233124732971,
41
+ 0.12003165483474731,
42
+ 0.3751818835735321,
43
+ 0.14791859686374664,
44
+ 0.011868945322930813,
45
+ 0.008927330374717712
46
+ ],
47
+ "count": [
48
+ 366
49
+ ],
50
+ "q01": [
51
+ -0.24716216725296686,
52
+ -1.5570184648075722,
53
+ -1.0309368328507718,
54
+ 1.1705892385406707,
55
+ 0.009444226507699133,
56
+ 0.0914570489991165,
57
+ 0.8579079426133429,
58
+ -0.00016816214879432917,
59
+ -0.0301668756710125
60
+ ],
61
+ "q10": [
62
+ -0.23715505387531072,
63
+ -1.2214257595931504,
64
+ -0.6291457832968701,
65
+ 1.2321095520474115,
66
+ 0.20400214308358905,
67
+ 0.4178840595546509,
68
+ 0.9268940558275177,
69
+ -0.00016816214879432917,
70
+ -0.0301668756710125
71
+ ],
72
+ "q50": [
73
+ -0.09425268532653272,
74
+ -0.9015891166003394,
75
+ -0.41775668906877705,
76
+ 1.6140095933604586,
77
+ 0.3537437315105049,
78
+ 0.8675451854248173,
79
+ 1.1101310209193893,
80
+ -0.00016816214879432917,
81
+ -0.0301668756710125
82
+ ],
83
+ "q90": [
84
+ 0.237056874302377,
85
+ -0.6996374376223861,
86
+ -0.33951055404276714,
87
+ 2.2840603594136986,
88
+ 0.5019172188825233,
89
+ 1.472127976133777,
90
+ 1.3552586552837091,
91
+ 0.010292405239945426,
92
+ -0.022298826789920363
93
+ ],
94
+ "q99": [
95
+ 0.6427495929697227,
96
+ -0.6591255329576551,
97
+ -0.0680346027102344,
98
+ 2.4892547111613714,
99
+ 0.6008209711096583,
100
+ 1.6133644352923169,
101
+ 1.4023744773524285,
102
+ 0.04016631066248488,
103
+ 0.0001712113445963155
104
+ ]
105
+ },
106
+ "action": {
107
+ "min": [
108
+ -0.24784940481185913,
109
+ -1.5670865774154663,
110
+ -1.0341784954071045,
111
+ 1.152219295501709,
112
+ 0.00031787846819497645,
113
+ 0.08850353956222534,
114
+ 0.8509567975997925,
115
+ -1.0,
116
+ -1.0
117
+ ],
118
+ "max": [
119
+ 0.6493276953697205,
120
+ -0.6461102962493896,
121
+ -0.061290543526411057,
122
+ 2.48996639251709,
123
+ 0.6034336686134338,
124
+ 1.6172351837158203,
125
+ 1.4146240949630737,
126
+ 1.0,
127
+ 1.0
128
+ ],
129
+ "mean": [
130
+ -0.020578565075993538,
131
+ -0.9536558985710144,
132
+ -0.4562804698944092,
133
+ 1.694053292274475,
134
+ 0.340823233127594,
135
+ 0.9104191660881042,
136
+ 1.106933355331421,
137
+ -0.8032786846160889,
138
+ -0.8032786846160889
139
+ ],
140
+ "std": [
141
+ 0.21733835339546204,
142
+ 0.21786442399024963,
143
+ 0.16360518336296082,
144
+ 0.3852916657924652,
145
+ 0.12125647068023682,
146
+ 0.3769516944885254,
147
+ 0.1482217162847519,
148
+ 0.595603346824646,
149
+ 0.595603346824646
150
+ ],
151
+ "count": [
152
+ 366
153
+ ],
154
+ "q01": [
155
+ -0.24673331659898445,
156
+ -1.5670865775154663,
157
+ -1.0341784955071045,
158
+ 1.184919185446042,
159
+ 0.00031787836819497647,
160
+ 0.09132252061441339,
161
+ 0.8578583398911573,
162
+ -1.0000000001,
163
+ -1.0000000001
164
+ ],
165
+ "q10": [
166
+ -0.23722682804334125,
167
+ -1.2232799918396342,
168
+ -0.6330503069445541,
169
+ 1.2337148485640699,
170
+ 0.2037528552235797,
171
+ 0.41785348492176383,
172
+ 0.927074429362738,
173
+ -1.0000000001,
174
+ -1.0000000001
175
+ ],
176
+ "q50": [
177
+ -0.09431249713322483,
178
+ -0.9017119134378548,
179
+ -0.41762697067516635,
180
+ 1.6170418201141468,
181
+ 0.35318082343951607,
182
+ 0.8674432699818604,
183
+ 1.1157301160751845,
184
+ -1.0000000001,
185
+ -1.0000000001
186
+ ],
187
+ "q90": [
188
+ 0.2381454491841733,
189
+ -0.699011173751057,
190
+ -0.33938083564915644,
191
+ 2.2841673791814756,
192
+ 0.4987086428778865,
193
+ 1.4886586609813872,
194
+ 1.356318349803128,
195
+ -1.0000000001,
196
+ -1.0000000001
197
+ ],
198
+ "q99": [
199
+ 0.6428285445545563,
200
+ -0.6680700546022824,
201
+ -0.06794898857045127,
202
+ 2.4893724329059266,
203
+ 0.6008740452992086,
204
+ 1.617011377503087,
205
+ 1.3949836717467787,
206
+ 0.9999593334333292,
207
+ 0.9999593334333292
208
+ ]
209
+ },
210
+ "observation.cameras.third_person.intrinsics": {
211
+ "min": [
212
+ 324.7286071777344,
213
+ 0.0,
214
+ 319.5,
215
+ 0.0,
216
+ 324.7286071777344,
217
+ 179.5,
218
+ 0.0,
219
+ 0.0,
220
+ 1.0
221
+ ],
222
+ "max": [
223
+ 324.7286071777344,
224
+ 0.0,
225
+ 319.5,
226
+ 0.0,
227
+ 324.7286071777344,
228
+ 179.5,
229
+ 0.0,
230
+ 0.0,
231
+ 1.0
232
+ ],
233
+ "mean": [
234
+ 324.7281799316406,
235
+ 0.0,
236
+ 319.5,
237
+ 0.0,
238
+ 324.7281799316406,
239
+ 179.5,
240
+ 0.0,
241
+ 0.0,
242
+ 1.0
243
+ ],
244
+ "std": [
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 0.0,
251
+ 0.0,
252
+ 0.0,
253
+ 0.0
254
+ ],
255
+ "count": [
256
+ 366
257
+ ],
258
+ "q01": [
259
+ 324.7286071777344,
260
+ 3.9999999999994176e-16,
261
+ 319.5,
262
+ 3.9999999999994176e-16,
263
+ 324.7286071777344,
264
+ 179.5,
265
+ 3.9999999999994176e-16,
266
+ 3.9999999999994176e-16,
267
+ 1.0000000000000004
268
+ ],
269
+ "q10": [
270
+ 324.7286071777344,
271
+ 3.999999999999417e-15,
272
+ 319.5,
273
+ 3.999999999999417e-15,
274
+ 324.7286071777344,
275
+ 179.5,
276
+ 3.999999999999417e-15,
277
+ 3.999999999999417e-15,
278
+ 1.000000000000004
279
+ ],
280
+ "q50": [
281
+ 324.7286071777344,
282
+ 1.9999999999997088e-14,
283
+ 319.5,
284
+ 1.9999999999997088e-14,
285
+ 324.7286071777344,
286
+ 179.5,
287
+ 1.9999999999997088e-14,
288
+ 1.9999999999997088e-14,
289
+ 1.00000000000002
290
+ ],
291
+ "q90": [
292
+ 324.72860717773443,
293
+ 3.599999999999476e-14,
294
+ 319.50000000000006,
295
+ 3.599999999999476e-14,
296
+ 324.72860717773443,
297
+ 179.50000000000003,
298
+ 3.599999999999476e-14,
299
+ 3.599999999999476e-14,
300
+ 1.000000000000036
301
+ ],
302
+ "q99": [
303
+ 324.72860717773443,
304
+ 3.959999999999423e-14,
305
+ 319.50000000000006,
306
+ 3.959999999999423e-14,
307
+ 324.72860717773443,
308
+ 179.50000000000003,
309
+ 3.959999999999423e-14,
310
+ 3.959999999999423e-14,
311
+ 1.0000000000000395
312
+ ]
313
+ },
314
+ "observation.cameras.third_person.camera_to_world": {
315
+ "min": [
316
+ -2.220446049250313e-16,
317
+ -0.5313827395439148,
318
+ 0.8471318483352661,
319
+ 1.100000023841858,
320
+ 1.0,
321
+ -1.1102230246251565e-16,
322
+ 1.6653345369377348e-16,
323
+ 0.0,
324
+ 5.551115123125783e-17,
325
+ 0.8471318483352661,
326
+ 0.5313827395439148,
327
+ 1.3300000429153442,
328
+ 0.0,
329
+ 0.0,
330
+ 0.0,
331
+ 1.0
332
+ ],
333
+ "max": [
334
+ -2.220446049250313e-16,
335
+ -0.5313827395439148,
336
+ 0.8471318483352661,
337
+ 1.100000023841858,
338
+ 1.0,
339
+ -1.1102230246251565e-16,
340
+ 1.6653345369377348e-16,
341
+ 0.0,
342
+ 5.551115123125783e-17,
343
+ 0.8471318483352661,
344
+ 0.5313827395439148,
345
+ 1.3300000429153442,
346
+ 0.0,
347
+ 0.0,
348
+ 0.0,
349
+ 1.0
350
+ ],
351
+ "mean": [
352
+ -2.220446049250313e-16,
353
+ -0.5313835144042969,
354
+ 0.8471348881721497,
355
+ 1.100003719329834,
356
+ 1.0,
357
+ -1.1102230246251565e-16,
358
+ 1.6653345369377348e-16,
359
+ 0.0,
360
+ 5.551115123125783e-17,
361
+ 0.8471348881721497,
362
+ 0.5313835144042969,
363
+ 1.3299944400787354,
364
+ 0.0,
365
+ 0.0,
366
+ 0.0,
367
+ 1.0
368
+ ],
369
+ "std": [
370
+ 0.0,
371
+ 0.0,
372
+ 0.0,
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 0.0,
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 0.0,
381
+ 0.0040412466041743755,
382
+ 0.0,
383
+ 0.0,
384
+ 0.0,
385
+ 0.0
386
+ ],
387
+ "count": [
388
+ 366
389
+ ],
390
+ "q01": [
391
+ 1.7795539507491046e-16,
392
+ -0.5313827395439144,
393
+ 0.8471318483352666,
394
+ 1.1000000238418584,
395
+ 1.0000000000000004,
396
+ 2.889776975374261e-16,
397
+ 5.665334536937153e-16,
398
+ 3.9999999999994176e-16,
399
+ 4.555111512311996e-16,
400
+ 0.8471318483352666,
401
+ 0.5313827395439152,
402
+ 1.3300000429153447,
403
+ 3.9999999999994176e-16,
404
+ 3.9999999999994176e-16,
405
+ 3.9999999999994176e-16,
406
+ 1.0000000000000004
407
+ ],
408
+ "q10": [
409
+ 3.777955395074386e-15,
410
+ -0.5313827395439108,
411
+ 0.8471318483352701,
412
+ 1.100000023841862,
413
+ 1.000000000000004,
414
+ 3.888977697536902e-15,
415
+ 4.166533453693191e-15,
416
+ 3.999999999999417e-15,
417
+ 4.055511151230675e-15,
418
+ 0.8471318483352701,
419
+ 0.5313827395439188,
420
+ 1.3300000429153482,
421
+ 3.999999999999417e-15,
422
+ 3.999999999999417e-15,
423
+ 3.999999999999417e-15,
424
+ 1.000000000000004
425
+ ],
426
+ "q50": [
427
+ 1.9777955395072056e-14,
428
+ -0.5313827395438948,
429
+ 0.8471318483352861,
430
+ 1.100000023841878,
431
+ 1.00000000000002,
432
+ 1.9888977697534572e-14,
433
+ 2.016653345369086e-14,
434
+ 1.9999999999997088e-14,
435
+ 2.0055511151228345e-14,
436
+ 0.8471318483352861,
437
+ 0.5313827395439348,
438
+ 1.3300000429153642,
439
+ 1.9999999999997088e-14,
440
+ 1.9999999999997088e-14,
441
+ 1.9999999999997088e-14,
442
+ 1.00000000000002
443
+ ],
444
+ "q90": [
445
+ 3.577795539506973e-14,
446
+ -0.5313827395438788,
447
+ 0.8471318483353021,
448
+ 1.1000000238418939,
449
+ 1.000000000000036,
450
+ 3.5888977697532244e-14,
451
+ 3.6166533453688534e-14,
452
+ 3.599999999999476e-14,
453
+ 3.605551115122602e-14,
454
+ 0.8471318483353021,
455
+ 0.5313827395439508,
456
+ 1.3300000429153802,
457
+ 3.599999999999476e-14,
458
+ 3.599999999999476e-14,
459
+ 3.599999999999476e-14,
460
+ 1.000000000000036
461
+ ],
462
+ "q99": [
463
+ 3.93779553950692e-14,
464
+ -0.5313827395438753,
465
+ 0.8471318483353056,
466
+ 1.1000000238418974,
467
+ 1.0000000000000395,
468
+ 3.948897769753171e-14,
469
+ 3.9766533453688e-14,
470
+ 3.959999999999423e-14,
471
+ 3.9655511151225486e-14,
472
+ 0.8471318483353056,
473
+ 0.5313827395439543,
474
+ 1.3300000429153838,
475
+ 3.959999999999423e-14,
476
+ 3.959999999999423e-14,
477
+ 3.959999999999423e-14,
478
+ 1.0000000000000395
479
+ ]
480
+ },
481
+ "timestamp": {
482
+ "min": [
483
+ 0.0
484
+ ],
485
+ "max": [
486
+ 24.333333333333332
487
+ ],
488
+ "mean": [
489
+ 12.166666666666666
490
+ ],
491
+ "std": [
492
+ 7.0436469930685055
493
+ ],
494
+ "count": [
495
+ 366
496
+ ],
497
+ "q01": [
498
+ 0.2027453332349997
499
+ ],
500
+ "q10": [
501
+ 2.4021866665864104
502
+ ],
503
+ "q50": [
504
+ 12.137466666666425
505
+ ],
506
+ "q90": [
507
+ 21.931146666746923
508
+ ],
509
+ "q99": [
510
+ 24.13058800009833
511
+ ]
512
+ },
513
+ "frame_index": {
514
+ "min": [
515
+ 0
516
+ ],
517
+ "max": [
518
+ 365
519
+ ],
520
+ "mean": [
521
+ 182.5
522
+ ],
523
+ "std": [
524
+ 105.65470489602754
525
+ ],
526
+ "count": [
527
+ 366
528
+ ],
529
+ "q01": [
530
+ 3.041179999901666
531
+ ],
532
+ "q10": [
533
+ 36.03279999991974
534
+ ],
535
+ "q50": [
536
+ 182.06199999999976
537
+ ],
538
+ "q90": [
539
+ 328.9672000000802
540
+ ],
541
+ "q99": [
542
+ 361.95882000009834
543
+ ]
544
+ },
545
+ "episode_index": {
546
+ "min": [
547
+ 0
548
+ ],
549
+ "max": [
550
+ 0
551
+ ],
552
+ "mean": [
553
+ 0.0
554
+ ],
555
+ "std": [
556
+ 0.0
557
+ ],
558
+ "count": [
559
+ 366
560
+ ],
561
+ "q01": [
562
+ 3.9999999999994176e-16
563
+ ],
564
+ "q10": [
565
+ 3.999999999999417e-15
566
+ ],
567
+ "q50": [
568
+ 1.9999999999997088e-14
569
+ ],
570
+ "q90": [
571
+ 3.599999999999476e-14
572
+ ],
573
+ "q99": [
574
+ 3.959999999999423e-14
575
+ ]
576
+ },
577
+ "index": {
578
+ "min": [
579
+ 0
580
+ ],
581
+ "max": [
582
+ 365
583
+ ],
584
+ "mean": [
585
+ 182.5
586
+ ],
587
+ "std": [
588
+ 105.65470489602754
589
+ ],
590
+ "count": [
591
+ 366
592
+ ],
593
+ "q01": [
594
+ 3.041179999901666
595
+ ],
596
+ "q10": [
597
+ 36.03279999991974
598
+ ],
599
+ "q50": [
600
+ 182.06199999999976
601
+ ],
602
+ "q90": [
603
+ 328.9672000000802
604
+ ],
605
+ "q99": [
606
+ 361.95882000009834
607
+ ]
608
+ },
609
+ "task_index": {
610
+ "min": [
611
+ 0
612
+ ],
613
+ "max": [
614
+ 0
615
+ ],
616
+ "mean": [
617
+ 0.0
618
+ ],
619
+ "std": [
620
+ 0.0
621
+ ],
622
+ "count": [
623
+ 366
624
+ ],
625
+ "q01": [
626
+ 3.9999999999994176e-16
627
+ ],
628
+ "q10": [
629
+ 3.999999999999417e-15
630
+ ],
631
+ "q50": [
632
+ 1.9999999999997088e-14
633
+ ],
634
+ "q90": [
635
+ 3.599999999999476e-14
636
+ ],
637
+ "q99": [
638
+ 3.959999999999423e-14
639
+ ]
640
+ },
641
+ "observation.images.third_person": {
642
+ "min": [
643
+ [
644
+ [
645
+ 0.0
646
+ ]
647
+ ],
648
+ [
649
+ [
650
+ 0.0
651
+ ]
652
+ ],
653
+ [
654
+ [
655
+ 0.0
656
+ ]
657
+ ]
658
+ ],
659
+ "max": [
660
+ [
661
+ [
662
+ 1.0
663
+ ]
664
+ ],
665
+ [
666
+ [
667
+ 0.9372549019607843
668
+ ]
669
+ ],
670
+ [
671
+ [
672
+ 0.9372549019607843
673
+ ]
674
+ ]
675
+ ],
676
+ "mean": [
677
+ [
678
+ [
679
+ 0.32309281209447915
680
+ ]
681
+ ],
682
+ [
683
+ [
684
+ 0.26290073975856276
685
+ ]
686
+ ],
687
+ [
688
+ [
689
+ 0.2072482090134171
690
+ ]
691
+ ]
692
+ ],
693
+ "std": [
694
+ [
695
+ [
696
+ 0.0
697
+ ]
698
+ ],
699
+ [
700
+ [
701
+ 0.0
702
+ ]
703
+ ],
704
+ [
705
+ [
706
+ 0.0
707
+ ]
708
+ ]
709
+ ],
710
+ "count": [
711
+ 5270400
712
+ ],
713
+ "q01": [
714
+ [
715
+ [
716
+ 0.10584497614451613
717
+ ]
718
+ ],
719
+ [
720
+ [
721
+ 0.027458818361678988
722
+ ]
723
+ ],
724
+ [
725
+ [
726
+ 0.02745811625704321
727
+ ]
728
+ ]
729
+ ],
730
+ "q10": [
731
+ [
732
+ [
733
+ 0.18432004669861288
734
+ ]
735
+ ],
736
+ [
737
+ [
738
+ 0.12540795260132262
739
+ ]
740
+ ],
741
+ [
742
+ [
743
+ 0.1058154009317488
744
+ ]
745
+ ]
746
+ ],
747
+ "q50": [
748
+ [
749
+ [
750
+ 0.32548333721888195
751
+ ]
752
+ ],
753
+ [
754
+ [
755
+ 0.2706597233647157
756
+ ]
757
+ ],
758
+ [
759
+ [
760
+ 0.20000321483266678
761
+ ]
762
+ ]
763
+ ],
764
+ "q90": [
765
+ [
766
+ [
767
+ 0.4430780905831422
768
+ ]
769
+ ],
770
+ [
771
+ [
772
+ 0.3804080846380464
773
+ ]
774
+ ],
775
+ [
776
+ [
777
+ 0.3137353165807955
778
+ ]
779
+ ]
780
+ ],
781
+ "q99": [
782
+ [
783
+ [
784
+ 0.5687195572093159
785
+ ]
786
+ ],
787
+ [
788
+ [
789
+ 0.5411823250078568
790
+ ]
791
+ ],
792
+ [
793
+ [
794
+ 0.49019546104945144
795
+ ]
796
+ ]
797
+ ]
798
+ }
799
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bff0cfd33b6500de1974742c98dca50e58a6f6b973194f766ed2c9e1280a1f48
3
+ size 2202
Sawyer-837-rearrange_your_bathroom_4/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4/videos/observation.images.third_person/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab8c84c50df1a96a7a7e2d92187bb961c6f9e599b50ef73d618465cf954cec21
3
+ size 2884019
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8b66d71e7bde2fd53971f67c1258a854a4935788ae4f334b1f23f09df88efb3
3
+ size 60077
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/axis_task_dataset.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_id": 837,
3
+ "task_name": "Rearrange Your Bathroom 4",
4
+ "embodiment_id": "sawyer",
5
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
6
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
7
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
8
+ "renderer_backend": "robosuite_table_arena_env_state_resampling",
9
+ "state_feature": "observation.state",
10
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
11
+ "action_feature": "action",
12
+ "action_semantics": "ctrl",
13
+ "camera_features": {
14
+ "third_person": {
15
+ "logical_camera_name": "frontview",
16
+ "image_feature": "observation.images.third_person",
17
+ "intrinsics_feature": "observation.cameras.third_person.intrinsics",
18
+ "camera_to_world_feature": "observation.cameras.third_person.camera_to_world",
19
+ "intrinsics_storage": "row_major_flat",
20
+ "intrinsics_source_shape": [
21
+ 3,
22
+ 3
23
+ ],
24
+ "camera_to_world_storage": "row_major_flat",
25
+ "camera_to_world_source_shape": [
26
+ 4,
27
+ 4
28
+ ],
29
+ "camera_frame_convention": "MuJoCo/OpenGL +X image-right,+Y up,-Z forward to world",
30
+ "source_camera_name_policy": "physical camera name is per episode in meta/axis_episodes"
31
+ }
32
+ },
33
+ "camera_feature_provenance": "dataset logical schema plus per-episode physical camera sidecars",
34
+ "episode_sidecar_dir": "meta/axis_episodes",
35
+ "attempt_commit_dir": "meta/axis_attempt_commits",
36
+ "camera_group": "randomized"
37
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84271df6fe948be71453e907a36b543f8d488b15ef794135bf1030bcfea2c9ea
3
+ size 61452
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/info.json ADDED
@@ -0,0 +1,112 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "axis_robosuite",
4
+ "total_episodes": 4,
5
+ "total_frames": 1464,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:4"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 9
21
+ ],
22
+ "names": [
23
+ "state"
24
+ ]
25
+ },
26
+ "action": {
27
+ "dtype": "float32",
28
+ "shape": [
29
+ 9
30
+ ],
31
+ "names": [
32
+ "action"
33
+ ]
34
+ },
35
+ "observation.images.third_person": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 360,
39
+ 640,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channel"
46
+ ],
47
+ "info": {
48
+ "video.height": 360,
49
+ "video.width": 640,
50
+ "video.codec": "h264",
51
+ "video.pix_fmt": "yuv420p",
52
+ "video.is_depth_map": false,
53
+ "video.fps": 15,
54
+ "video.channels": 3,
55
+ "has_audio": false
56
+ }
57
+ },
58
+ "observation.cameras.third_person.intrinsics": {
59
+ "dtype": "float32",
60
+ "shape": [
61
+ 9
62
+ ],
63
+ "names": [
64
+ "row_major"
65
+ ]
66
+ },
67
+ "observation.cameras.third_person.camera_to_world": {
68
+ "dtype": "float32",
69
+ "shape": [
70
+ 16
71
+ ],
72
+ "names": [
73
+ "row_major"
74
+ ]
75
+ },
76
+ "timestamp": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "frame_index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "episode_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "index": {
98
+ "dtype": "int64",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "task_index": {
105
+ "dtype": "int64",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ }
111
+ }
112
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/stats.json ADDED
@@ -0,0 +1,799 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.third_person": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.9764705882352941
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.9764705882352941
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.32552048343244405
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.2627401585026847
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.20745159853179282
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.011991322864046245
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.008448296936364216
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0051048600864205766
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 21081600
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.1048766943996826
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.02645773582084105
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.02645686651526452
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.18627509085041025
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.11468253183164374
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.10195538750777916
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.3304053681239722
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.27448927455460187
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.2018982244528234
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.44708498959361537
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.3823344110906068
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.3166832311657793
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.5637295177117745
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.5097894279163997
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.46183947920599056
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.cameras.third_person.intrinsics": {
161
+ "min": [
162
+ 321.20489501953125,
163
+ 0.0,
164
+ 319.5,
165
+ 0.0,
166
+ 321.20489501953125,
167
+ 179.5,
168
+ 0.0,
169
+ 0.0,
170
+ 1.0
171
+ ],
172
+ "max": [
173
+ 348.1920166015625,
174
+ 0.0,
175
+ 319.5,
176
+ 0.0,
177
+ 348.1920166015625,
178
+ 179.5,
179
+ 0.0,
180
+ 0.0,
181
+ 1.0
182
+ ],
183
+ "mean": [
184
+ 337.5853042602539,
185
+ 0.0,
186
+ 319.5,
187
+ 0.0,
188
+ 337.5853042602539,
189
+ 179.5,
190
+ 0.0,
191
+ 0.0,
192
+ 1.0
193
+ ],
194
+ "std": [
195
+ 11.347064880864163,
196
+ 0.0,
197
+ 0.0,
198
+ 0.0,
199
+ 11.347064880864163,
200
+ 0.0,
201
+ 0.0,
202
+ 0.0,
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 1464
207
+ ],
208
+ "q01": [
209
+ 337.585205078125,
210
+ 3.9999999999994176e-16,
211
+ 319.5,
212
+ 3.9999999999994176e-16,
213
+ 337.585205078125,
214
+ 179.5,
215
+ 3.9999999999994176e-16,
216
+ 3.9999999999994176e-16,
217
+ 1.0000000000000004
218
+ ],
219
+ "q10": [
220
+ 337.585205078125,
221
+ 3.999999999999417e-15,
222
+ 319.5,
223
+ 3.999999999999417e-15,
224
+ 337.585205078125,
225
+ 179.5,
226
+ 3.999999999999417e-15,
227
+ 3.999999999999417e-15,
228
+ 1.000000000000004
229
+ ],
230
+ "q50": [
231
+ 337.585205078125,
232
+ 1.9999999999997088e-14,
233
+ 319.5,
234
+ 1.9999999999997088e-14,
235
+ 337.585205078125,
236
+ 179.5,
237
+ 1.9999999999997088e-14,
238
+ 1.9999999999997088e-14,
239
+ 1.00000000000002
240
+ ],
241
+ "q90": [
242
+ 337.58520507812506,
243
+ 3.599999999999476e-14,
244
+ 319.50000000000006,
245
+ 3.599999999999476e-14,
246
+ 337.58520507812506,
247
+ 179.50000000000003,
248
+ 3.599999999999476e-14,
249
+ 3.599999999999476e-14,
250
+ 1.000000000000036
251
+ ],
252
+ "q99": [
253
+ 337.58520507812506,
254
+ 3.959999999999423e-14,
255
+ 319.50000000000006,
256
+ 3.959999999999423e-14,
257
+ 337.58520507812506,
258
+ 179.50000000000003,
259
+ 3.959999999999423e-14,
260
+ 3.959999999999423e-14,
261
+ 1.0000000000000395
262
+ ]
263
+ },
264
+ "observation.state": {
265
+ "min": [
266
+ -0.24784940481185913,
267
+ -1.5670865774154663,
268
+ -1.0341784954071045,
269
+ 1.152219295501709,
270
+ 0.00031787846819497645,
271
+ 0.08850353956222534,
272
+ 0.8509567975997925,
273
+ -0.00016816204879432917,
274
+ -0.030166875571012497
275
+ ],
276
+ "max": [
277
+ 0.6493276953697205,
278
+ -0.6461102962493896,
279
+ -0.061290543526411057,
280
+ 2.48996639251709,
281
+ 0.6034336686134338,
282
+ 1.6172351837158203,
283
+ 1.4146240949630737,
284
+ 0.040167178958654404,
285
+ 0.0001718644198263064
286
+ ],
287
+ "mean": [
288
+ -0.022463198751211166,
289
+ -0.9513529539108276,
290
+ -0.4545532763004303,
291
+ 1.6944493055343628,
292
+ 0.3420339524745941,
293
+ 0.9079865217208862,
294
+ 1.1061820983886719,
295
+ 0.003799246624112129,
296
+ -0.027182793244719505
297
+ ],
298
+ "std": [
299
+ 0.2150637209415436,
300
+ 0.21576355397701263,
301
+ 0.16072465479373932,
302
+ 0.3851233124732971,
303
+ 0.12003165483474731,
304
+ 0.37518188357353216,
305
+ 0.14791859686374664,
306
+ 0.011868945322930815,
307
+ 0.008927330374717712
308
+ ],
309
+ "count": [
310
+ 1464
311
+ ],
312
+ "q01": [
313
+ -0.24716216725296686,
314
+ -1.5570184648075722,
315
+ -1.0309368328507718,
316
+ 1.1705892385406707,
317
+ 0.009444226507699133,
318
+ 0.0914570489991165,
319
+ 0.8579079426133429,
320
+ -0.00016816214879432917,
321
+ -0.030166875671012502
322
+ ],
323
+ "q10": [
324
+ -0.23715505387531072,
325
+ -1.2214257595931504,
326
+ -0.6291457832968701,
327
+ 1.2321095520474115,
328
+ 0.20400214308358902,
329
+ 0.41788405955465097,
330
+ 0.9268940558275177,
331
+ -0.00016816214879432917,
332
+ -0.030166875671012502
333
+ ],
334
+ "q50": [
335
+ -0.09425268532653272,
336
+ -0.9015891166003392,
337
+ -0.41775668906877705,
338
+ 1.6140095933604588,
339
+ 0.35374373151050487,
340
+ 0.8675451854248173,
341
+ 1.1101310209193893,
342
+ -0.00016816214879432917,
343
+ -0.030166875671012502
344
+ ],
345
+ "q90": [
346
+ 0.23705687430237704,
347
+ -0.6996374376223862,
348
+ -0.33951055404276714,
349
+ 2.2840603594136986,
350
+ 0.5019172188825233,
351
+ 1.472127976133777,
352
+ 1.3552586552837091,
353
+ 0.010292405239945426,
354
+ -0.02229882678992036
355
+ ],
356
+ "q99": [
357
+ 0.6427495929697227,
358
+ -0.6591255329576551,
359
+ -0.0680346027102344,
360
+ 2.4892547111613714,
361
+ 0.6008209711096583,
362
+ 1.6133644352923167,
363
+ 1.4023744773524285,
364
+ 0.04016631066248488,
365
+ 0.0001712113445963155
366
+ ]
367
+ },
368
+ "episode_index": {
369
+ "min": [
370
+ 0
371
+ ],
372
+ "max": [
373
+ 3
374
+ ],
375
+ "mean": [
376
+ 1.5
377
+ ],
378
+ "std": [
379
+ 1.118033988749895
380
+ ],
381
+ "count": [
382
+ 1464
383
+ ],
384
+ "q01": [
385
+ 1.5000000000000007
386
+ ],
387
+ "q10": [
388
+ 1.5000000000000038
389
+ ],
390
+ "q50": [
391
+ 1.50000000000002
392
+ ],
393
+ "q90": [
394
+ 1.500000000000036
395
+ ],
396
+ "q99": [
397
+ 1.5000000000000397
398
+ ]
399
+ },
400
+ "task_index": {
401
+ "min": [
402
+ 0
403
+ ],
404
+ "max": [
405
+ 0
406
+ ],
407
+ "mean": [
408
+ 0.0
409
+ ],
410
+ "std": [
411
+ 0.0
412
+ ],
413
+ "count": [
414
+ 1464
415
+ ],
416
+ "q01": [
417
+ 9.999999999998544e-17
418
+ ],
419
+ "q10": [
420
+ 9.999999999998543e-16
421
+ ],
422
+ "q50": [
423
+ 4.999999999999272e-15
424
+ ],
425
+ "q90": [
426
+ 8.99999999999869e-15
427
+ ],
428
+ "q99": [
429
+ 9.899999999998557e-15
430
+ ]
431
+ },
432
+ "observation.cameras.third_person.camera_to_world": {
433
+ "min": [
434
+ -0.07010000199079514,
435
+ -0.6248995661735535,
436
+ 0.7775517702102661,
437
+ 1.028230905532837,
438
+ 0.9885119199752808,
439
+ -0.13791753351688385,
440
+ -0.07173747569322586,
441
+ -0.07702673226594925,
442
+ -0.02124919183552265,
443
+ 0.7781007289886475,
444
+ 0.46597373485565186,
445
+ 1.3218327760696411,
446
+ 0.0,
447
+ 0.0,
448
+ 0.0,
449
+ 1.0
450
+ ],
451
+ "max": [
452
+ 0.07156269252300262,
453
+ -0.4635377824306488,
454
+ 0.8831826448440552,
455
+ 1.1682331562042236,
456
+ 0.9972926378250122,
457
+ 0.05211325362324715,
458
+ 0.03869514912366867,
459
+ 0.10344808548688889,
460
+ 0.1504039764404297,
461
+ 0.8845433592796326,
462
+ 0.627627432346344,
463
+ 1.386775016784668,
464
+ 0.0,
465
+ 0.0,
466
+ 0.0,
467
+ 1.0
468
+ ],
469
+ "mean": [
470
+ 0.01376824569888413,
471
+ -0.5356395170092583,
472
+ 0.8389663994312286,
473
+ 1.0697692334651947,
474
+ 0.9950600862503052,
475
+ -0.03333823382854462,
476
+ -0.0370804350823164,
477
+ -0.00620228610932827,
478
+ 0.045293344650417566,
479
+ 0.8373908698558807,
480
+ 0.535920761525631,
481
+ 1.3503473997116089,
482
+ 0.0,
483
+ 0.0,
484
+ 0.0,
485
+ 1.0
486
+ ],
487
+ "std": [
488
+ 0.059575756732854944,
489
+ 0.061704160604604735,
490
+ 0.04099613256818556,
491
+ 0.057218532250933915,
492
+ 0.00392034180275318,
493
+ 0.07350637083120518,
494
+ 0.0442255925092799,
495
+ 0.07452208741967603,
496
+ 0.06368074800817913,
497
+ 0.03933844354086517,
498
+ 0.06256571750504114,
499
+ 0.026413858590652137,
500
+ 0.0,
501
+ 0.0,
502
+ 0.0,
503
+ 0.0
504
+ ],
505
+ "count": [
506
+ 1464
507
+ ],
508
+ "q01": [
509
+ 0.01376836444251279,
510
+ -0.5356404557824131,
511
+ 0.8389667570590977,
512
+ 1.069769531488419,
513
+ 0.9950579702854161,
514
+ -0.03333820309489926,
515
+ -0.03708059154450854,
516
+ -0.00620230846106966,
517
+ 0.04529318446293513,
518
+ 0.8373896181583409,
519
+ 0.5359204486012462,
520
+ 1.3503456711769108,
521
+ 3.9999999999994176e-16,
522
+ 3.9999999999994176e-16,
523
+ 3.9999999999994176e-16,
524
+ 1.0000000000000004
525
+ ],
526
+ "q10": [
527
+ 0.013768364442516392,
528
+ -0.5356404557824095,
529
+ 0.8389667570591013,
530
+ 1.0697695314884226,
531
+ 0.9950579702854196,
532
+ -0.03333820309489566,
533
+ -0.03708059154450494,
534
+ -0.006202308461066061,
535
+ 0.04529318446293873,
536
+ 0.8373896181583445,
537
+ 0.5359204486012499,
538
+ 1.3503456711769144,
539
+ 3.999999999999417e-15,
540
+ 3.999999999999417e-15,
541
+ 3.999999999999417e-15,
542
+ 1.000000000000004
543
+ ],
544
+ "q50": [
545
+ 0.01376836444253239,
546
+ -0.5356404557823935,
547
+ 0.8389667570591173,
548
+ 1.0697695314884386,
549
+ 0.9950579702854356,
550
+ -0.03333820309487966,
551
+ -0.037080591544488936,
552
+ -0.006202308461050065,
553
+ 0.04529318446295473,
554
+ 0.8373896181583604,
555
+ 0.5359204486012659,
556
+ 1.3503456711769304,
557
+ 1.9999999999997088e-14,
558
+ 1.9999999999997088e-14,
559
+ 1.9999999999997088e-14,
560
+ 1.00000000000002
561
+ ],
562
+ "q90": [
563
+ 0.013768364442548395,
564
+ -0.5356404557823774,
565
+ 0.8389667570591334,
566
+ 1.0697695314884546,
567
+ 0.9950579702854517,
568
+ -0.033338203094863655,
569
+ -0.03708059154447293,
570
+ -0.006202308461034062,
571
+ 0.045293184462970724,
572
+ 0.8373896181583765,
573
+ 0.535920448601282,
574
+ 1.3503456711769464,
575
+ 3.599999999999476e-14,
576
+ 3.599999999999476e-14,
577
+ 3.599999999999476e-14,
578
+ 1.000000000000036
579
+ ],
580
+ "q99": [
581
+ 0.013768364442551988,
582
+ -0.5356404557823738,
583
+ 0.8389667570591367,
584
+ 1.069769531488458,
585
+ 0.9950579702854551,
586
+ -0.033338203094860054,
587
+ -0.037080591544469334,
588
+ -0.006202308461030467,
589
+ 0.04529318446297434,
590
+ 0.8373896181583799,
591
+ 0.5359204486012855,
592
+ 1.35034567117695,
593
+ 3.959999999999423e-14,
594
+ 3.959999999999423e-14,
595
+ 3.959999999999423e-14,
596
+ 1.0000000000000395
597
+ ]
598
+ },
599
+ "index": {
600
+ "min": [
601
+ 0
602
+ ],
603
+ "max": [
604
+ 1463
605
+ ],
606
+ "mean": [
607
+ 731.5
608
+ ],
609
+ "std": [
610
+ 422.6202984555601
611
+ ],
612
+ "count": [
613
+ 1464
614
+ ],
615
+ "q01": [
616
+ 552.0411799999017
617
+ ],
618
+ "q10": [
619
+ 585.0327999999197
620
+ ],
621
+ "q50": [
622
+ 731.0619999999998
623
+ ],
624
+ "q90": [
625
+ 877.9672000000802
626
+ ],
627
+ "q99": [
628
+ 910.9588200000984
629
+ ]
630
+ },
631
+ "frame_index": {
632
+ "min": [
633
+ 0
634
+ ],
635
+ "max": [
636
+ 365
637
+ ],
638
+ "mean": [
639
+ 182.5
640
+ ],
641
+ "std": [
642
+ 105.65470489602754
643
+ ],
644
+ "count": [
645
+ 1464
646
+ ],
647
+ "q01": [
648
+ 3.0411799999016655
649
+ ],
650
+ "q10": [
651
+ 36.03279999991974
652
+ ],
653
+ "q50": [
654
+ 182.06199999999976
655
+ ],
656
+ "q90": [
657
+ 328.9672000000802
658
+ ],
659
+ "q99": [
660
+ 361.95882000009834
661
+ ]
662
+ },
663
+ "timestamp": {
664
+ "min": [
665
+ 0.0
666
+ ],
667
+ "max": [
668
+ 24.333333333333332
669
+ ],
670
+ "mean": [
671
+ 12.166666666666666
672
+ ],
673
+ "std": [
674
+ 7.0436469930685055
675
+ ],
676
+ "count": [
677
+ 1464
678
+ ],
679
+ "q01": [
680
+ 0.2027453332349997
681
+ ],
682
+ "q10": [
683
+ 2.4021866665864104
684
+ ],
685
+ "q50": [
686
+ 12.137466666666425
687
+ ],
688
+ "q90": [
689
+ 21.931146666746926
690
+ ],
691
+ "q99": [
692
+ 24.130588000098335
693
+ ]
694
+ },
695
+ "action": {
696
+ "min": [
697
+ -0.24784940481185913,
698
+ -1.5670865774154663,
699
+ -1.0341784954071045,
700
+ 1.152219295501709,
701
+ 0.00031787846819497645,
702
+ 0.08850353956222534,
703
+ 0.8509567975997925,
704
+ -1.0,
705
+ -1.0
706
+ ],
707
+ "max": [
708
+ 0.6493276953697205,
709
+ -0.6461102962493896,
710
+ -0.061290543526411057,
711
+ 2.48996639251709,
712
+ 0.6034336686134338,
713
+ 1.6172351837158203,
714
+ 1.4146240949630737,
715
+ 1.0,
716
+ 1.0
717
+ ],
718
+ "mean": [
719
+ -0.020578565075993538,
720
+ -0.9536558985710144,
721
+ -0.4562804698944092,
722
+ 1.694053292274475,
723
+ 0.340823233127594,
724
+ 0.9104191660881042,
725
+ 1.106933355331421,
726
+ -0.8032786846160889,
727
+ -0.8032786846160889
728
+ ],
729
+ "std": [
730
+ 0.21733835339546206,
731
+ 0.21786442399024966,
732
+ 0.16360518336296082,
733
+ 0.3852916657924652,
734
+ 0.12125647068023682,
735
+ 0.3769516944885254,
736
+ 0.1482217162847519,
737
+ 0.595603346824646,
738
+ 0.595603346824646
739
+ ],
740
+ "count": [
741
+ 1464
742
+ ],
743
+ "q01": [
744
+ -0.24673331659898445,
745
+ -1.5670865775154663,
746
+ -1.0341784955071045,
747
+ 1.184919185446042,
748
+ 0.00031787836819497647,
749
+ 0.09132252061441339,
750
+ 0.8578583398911573,
751
+ -1.0000000001,
752
+ -1.0000000001
753
+ ],
754
+ "q10": [
755
+ -0.23722682804334125,
756
+ -1.2232799918396342,
757
+ -0.6330503069445541,
758
+ 1.2337148485640699,
759
+ 0.2037528552235797,
760
+ 0.4178534849217638,
761
+ 0.9270744293627379,
762
+ -1.0000000001,
763
+ -1.0000000001
764
+ ],
765
+ "q50": [
766
+ -0.09431249713322483,
767
+ -0.901711913437855,
768
+ -0.41762697067516635,
769
+ 1.6170418201141468,
770
+ 0.35318082343951607,
771
+ 0.8674432699818604,
772
+ 1.1157301160751845,
773
+ -1.0000000001,
774
+ -1.0000000001
775
+ ],
776
+ "q90": [
777
+ 0.2381454491841733,
778
+ -0.699011173751057,
779
+ -0.33938083564915644,
780
+ 2.2841673791814756,
781
+ 0.4987086428778866,
782
+ 1.4886586609813872,
783
+ 1.356318349803128,
784
+ -1.0000000001,
785
+ -1.0000000001
786
+ ],
787
+ "q99": [
788
+ 0.6428285445545563,
789
+ -0.6680700546022824,
790
+ -0.06794898857045127,
791
+ 2.4893724329059266,
792
+ 0.6008740452992087,
793
+ 1.6170113775030872,
794
+ 1.3949836717467787,
795
+ 0.9999593334333291,
796
+ 0.9999593334333291
797
+ ]
798
+ }
799
+ }
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bff0cfd33b6500de1974742c98dca50e58a6f6b973194f766ed2c9e1280a1f48
3
+ size 2202
Sawyer-837-rearrange_your_bathroom_4/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4/videos/observation.images.third_person/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d612d9ac573373a765f72a5b641117c043dab38c58609d1511adcb5130ca557c
3
+ size 11684938
Sawyer-837-rearrange_your_bathroom_4/task_manifest.json ADDED
@@ -0,0 +1,2368 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "axis_embodiment_task_upload_manifest_v1",
3
+ "created_at": "2026-08-13T09:44:28.881968+00:00",
4
+ "task_id": 837,
5
+ "task_name": "Rearrange Your Bathroom 4",
6
+ "embodiment_id": "sawyer",
7
+ "source_embodiment_id": "franka",
8
+ "candidate_audit": {
9
+ "status": "exact_match",
10
+ "expected_verified_attempt_ids": [
11
+ 690597
12
+ ],
13
+ "live_verified_attempt_ids": [
14
+ 690597
15
+ ],
16
+ "frozen_candidate_attempt_count": 1,
17
+ "live_verified_attempt_count": 1,
18
+ "newly_verified_attempt_ids": [],
19
+ "no_longer_verified_attempt_ids": [],
20
+ "policy": "audit_only; frozen candidates are immutable and materialized fixed episodes are authoritative for upload"
21
+ },
22
+ "episode_attempt_mapping": {
23
+ "schema": "axis_episode_attempt_mapping_v1",
24
+ "status": "valid",
25
+ "authority": "materialized_fixed_episodes",
26
+ "fixed_episode_count": 1,
27
+ "randomized_episode_count": 4,
28
+ "materialized_attempt_count": 1,
29
+ "materialized_attempt_ids": [
30
+ 690597
31
+ ],
32
+ "unmaterialized_frozen_candidate_attempt_ids": [],
33
+ "terminal_record_attempt_ids_without_episode_metadata": [],
34
+ "mapping_errors": [],
35
+ "fixed": [
36
+ {
37
+ "episode_index": 0,
38
+ "attempt_id": 690597,
39
+ "frame_count": 366,
40
+ "capture_id": "camera_fixed_replica_000",
41
+ "camera_replica_id": 0,
42
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000"
43
+ }
44
+ ],
45
+ "randomized": [
46
+ {
47
+ "episode_index": 0,
48
+ "attempt_id": 690597,
49
+ "frame_count": 366,
50
+ "capture_id": "camera_randomized_replica_000",
51
+ "camera_replica_id": 0,
52
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000"
53
+ },
54
+ {
55
+ "episode_index": 1,
56
+ "attempt_id": 690597,
57
+ "frame_count": 366,
58
+ "capture_id": "camera_randomized_replica_001",
59
+ "camera_replica_id": 1,
60
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000"
61
+ },
62
+ {
63
+ "episode_index": 2,
64
+ "attempt_id": 690597,
65
+ "frame_count": 366,
66
+ "capture_id": "camera_randomized_replica_002",
67
+ "camera_replica_id": 2,
68
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000"
69
+ },
70
+ {
71
+ "episode_index": 3,
72
+ "attempt_id": 690597,
73
+ "frame_count": 366,
74
+ "capture_id": "camera_randomized_replica_003",
75
+ "camera_replica_id": 3,
76
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000"
77
+ }
78
+ ]
79
+ },
80
+ "terminal_record_status_counts": {
81
+ "success": 1
82
+ },
83
+ "failed_launches": [],
84
+ "records": [
85
+ {
86
+ "status": "success",
87
+ "task_id": 837,
88
+ "task_name": "Rearrange Your Bathroom 4",
89
+ "attempt_id": 690597,
90
+ "embodiment_id": "sawyer",
91
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
92
+ "variant_id": 0,
93
+ "seed": 42,
94
+ "num_frames": 366,
95
+ "camera_names": [
96
+ "frontview",
97
+ "frontview_random_00",
98
+ "frontview_random_01",
99
+ "frontview_random_02",
100
+ "frontview_random_03"
101
+ ],
102
+ "render_time_s": 34.13845895102713,
103
+ "output_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
104
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/capture_manifest.json",
105
+ "lerobot_episode": {
106
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
107
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_fixed_task_837_sawyer_rearrange_your_bathroom_4",
108
+ "episode_index": 0,
109
+ "frame_count": 366,
110
+ "task_id": 837,
111
+ "task_name": "Rearrange Your Bathroom 4",
112
+ "attempt_id": 690597,
113
+ "embodiment_id": "sawyer",
114
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
115
+ "variant_id": 0,
116
+ "fps": 15,
117
+ "robot_type": "axis_robosuite",
118
+ "camera_keys": {
119
+ "frontview": "third_person"
120
+ },
121
+ "schema": "reference_policy_fields_v2",
122
+ "image_cache_policy": "encoded_in_per_attempt_shard",
123
+ "image_cache_removed": true,
124
+ "policy_state_dim": 9,
125
+ "action_dim": 9,
126
+ "ee_state_dim": null,
127
+ "policy_state_metadata": {
128
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
129
+ "qpos_indices": [
130
+ 28,
131
+ 29,
132
+ 30,
133
+ 31,
134
+ 32,
135
+ 33,
136
+ 34,
137
+ 35,
138
+ 36
139
+ ],
140
+ "actuator_joint_entries": [
141
+ {
142
+ "actuator_id": 0,
143
+ "actuator_name": "sawyer/right_j0",
144
+ "joint_id": 4,
145
+ "joint_name": "sawyer/right_j0",
146
+ "joint_type": 3,
147
+ "qpos_index": 28
148
+ },
149
+ {
150
+ "actuator_id": 1,
151
+ "actuator_name": "sawyer/right_j1",
152
+ "joint_id": 5,
153
+ "joint_name": "sawyer/right_j1",
154
+ "joint_type": 3,
155
+ "qpos_index": 29
156
+ },
157
+ {
158
+ "actuator_id": 2,
159
+ "actuator_name": "sawyer/right_j2",
160
+ "joint_id": 6,
161
+ "joint_name": "sawyer/right_j2",
162
+ "joint_type": 3,
163
+ "qpos_index": 30
164
+ },
165
+ {
166
+ "actuator_id": 3,
167
+ "actuator_name": "sawyer/right_j3",
168
+ "joint_id": 7,
169
+ "joint_name": "sawyer/right_j3",
170
+ "joint_type": 3,
171
+ "qpos_index": 31
172
+ },
173
+ {
174
+ "actuator_id": 4,
175
+ "actuator_name": "sawyer/right_j4",
176
+ "joint_id": 8,
177
+ "joint_name": "sawyer/right_j4",
178
+ "joint_type": 3,
179
+ "qpos_index": 32
180
+ },
181
+ {
182
+ "actuator_id": 5,
183
+ "actuator_name": "sawyer/right_j5",
184
+ "joint_id": 9,
185
+ "joint_name": "sawyer/right_j5",
186
+ "joint_type": 3,
187
+ "qpos_index": 33
188
+ },
189
+ {
190
+ "actuator_id": 6,
191
+ "actuator_name": "sawyer/right_j6",
192
+ "joint_id": 10,
193
+ "joint_name": "sawyer/right_j6",
194
+ "joint_type": 3,
195
+ "qpos_index": 34
196
+ },
197
+ {
198
+ "actuator_id": 7,
199
+ "actuator_name": "sawyer/r_close",
200
+ "joint_id": 11,
201
+ "joint_name": "sawyer/r_close",
202
+ "joint_type": 2,
203
+ "qpos_index": 35
204
+ },
205
+ {
206
+ "actuator_id": 8,
207
+ "actuator_name": "sawyer/l_close",
208
+ "joint_id": 12,
209
+ "joint_name": "sawyer/l_close",
210
+ "joint_type": 2,
211
+ "qpos_index": 36
212
+ }
213
+ ],
214
+ "skipped_actuators": [],
215
+ "state_dim": 9,
216
+ "action_dim": 9
217
+ },
218
+ "nq": 37,
219
+ "nv": 33,
220
+ "nu": 9,
221
+ "total_episodes_after_write": 1,
222
+ "total_frames_after_write": 366,
223
+ "commit": {
224
+ "schema": "axis_lerobot_preencoded_commit_v1",
225
+ "video_encoding_outside_task_lock": true,
226
+ "encode_seconds": 4.26038539595902,
227
+ "stage_seconds": 0.0037419539876282215,
228
+ "lock_wait_seconds": 0.0001208320027217269,
229
+ "lock_work_seconds": 0.005815776996314526,
230
+ "commit_seconds": 0.005809118039906025
231
+ },
232
+ "camera_group": "fixed",
233
+ "camera_replica_id": 0,
234
+ "capture_id": "camera_fixed_replica_000",
235
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
236
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
237
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_fixed/replica_000/metadata.json",
238
+ "logical_camera_names": [
239
+ "frontview"
240
+ ],
241
+ "physical_camera_names": [
242
+ "frontview"
243
+ ]
244
+ },
245
+ "lerobot_episodes": [
246
+ {
247
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
248
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_fixed_task_837_sawyer_rearrange_your_bathroom_4",
249
+ "episode_index": 0,
250
+ "frame_count": 366,
251
+ "task_id": 837,
252
+ "task_name": "Rearrange Your Bathroom 4",
253
+ "attempt_id": 690597,
254
+ "embodiment_id": "sawyer",
255
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
256
+ "variant_id": 0,
257
+ "fps": 15,
258
+ "robot_type": "axis_robosuite",
259
+ "camera_keys": {
260
+ "frontview": "third_person"
261
+ },
262
+ "schema": "reference_policy_fields_v2",
263
+ "image_cache_policy": "encoded_in_per_attempt_shard",
264
+ "image_cache_removed": true,
265
+ "policy_state_dim": 9,
266
+ "action_dim": 9,
267
+ "ee_state_dim": null,
268
+ "policy_state_metadata": {
269
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
270
+ "qpos_indices": [
271
+ 28,
272
+ 29,
273
+ 30,
274
+ 31,
275
+ 32,
276
+ 33,
277
+ 34,
278
+ 35,
279
+ 36
280
+ ],
281
+ "actuator_joint_entries": [
282
+ {
283
+ "actuator_id": 0,
284
+ "actuator_name": "sawyer/right_j0",
285
+ "joint_id": 4,
286
+ "joint_name": "sawyer/right_j0",
287
+ "joint_type": 3,
288
+ "qpos_index": 28
289
+ },
290
+ {
291
+ "actuator_id": 1,
292
+ "actuator_name": "sawyer/right_j1",
293
+ "joint_id": 5,
294
+ "joint_name": "sawyer/right_j1",
295
+ "joint_type": 3,
296
+ "qpos_index": 29
297
+ },
298
+ {
299
+ "actuator_id": 2,
300
+ "actuator_name": "sawyer/right_j2",
301
+ "joint_id": 6,
302
+ "joint_name": "sawyer/right_j2",
303
+ "joint_type": 3,
304
+ "qpos_index": 30
305
+ },
306
+ {
307
+ "actuator_id": 3,
308
+ "actuator_name": "sawyer/right_j3",
309
+ "joint_id": 7,
310
+ "joint_name": "sawyer/right_j3",
311
+ "joint_type": 3,
312
+ "qpos_index": 31
313
+ },
314
+ {
315
+ "actuator_id": 4,
316
+ "actuator_name": "sawyer/right_j4",
317
+ "joint_id": 8,
318
+ "joint_name": "sawyer/right_j4",
319
+ "joint_type": 3,
320
+ "qpos_index": 32
321
+ },
322
+ {
323
+ "actuator_id": 5,
324
+ "actuator_name": "sawyer/right_j5",
325
+ "joint_id": 9,
326
+ "joint_name": "sawyer/right_j5",
327
+ "joint_type": 3,
328
+ "qpos_index": 33
329
+ },
330
+ {
331
+ "actuator_id": 6,
332
+ "actuator_name": "sawyer/right_j6",
333
+ "joint_id": 10,
334
+ "joint_name": "sawyer/right_j6",
335
+ "joint_type": 3,
336
+ "qpos_index": 34
337
+ },
338
+ {
339
+ "actuator_id": 7,
340
+ "actuator_name": "sawyer/r_close",
341
+ "joint_id": 11,
342
+ "joint_name": "sawyer/r_close",
343
+ "joint_type": 2,
344
+ "qpos_index": 35
345
+ },
346
+ {
347
+ "actuator_id": 8,
348
+ "actuator_name": "sawyer/l_close",
349
+ "joint_id": 12,
350
+ "joint_name": "sawyer/l_close",
351
+ "joint_type": 2,
352
+ "qpos_index": 36
353
+ }
354
+ ],
355
+ "skipped_actuators": [],
356
+ "state_dim": 9,
357
+ "action_dim": 9
358
+ },
359
+ "nq": 37,
360
+ "nv": 33,
361
+ "nu": 9,
362
+ "total_episodes_after_write": 1,
363
+ "total_frames_after_write": 366,
364
+ "commit": {
365
+ "schema": "axis_lerobot_preencoded_commit_v1",
366
+ "video_encoding_outside_task_lock": true,
367
+ "encode_seconds": 4.26038539595902,
368
+ "stage_seconds": 0.0037419539876282215,
369
+ "lock_wait_seconds": 0.0001208320027217269,
370
+ "lock_work_seconds": 0.005815776996314526,
371
+ "commit_seconds": 0.005809118039906025
372
+ },
373
+ "camera_group": "fixed",
374
+ "camera_replica_id": 0,
375
+ "capture_id": "camera_fixed_replica_000",
376
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
377
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
378
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_fixed/replica_000/metadata.json",
379
+ "logical_camera_names": [
380
+ "frontview"
381
+ ],
382
+ "physical_camera_names": [
383
+ "frontview"
384
+ ]
385
+ },
386
+ {
387
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
388
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
389
+ "episode_index": 0,
390
+ "frame_count": 366,
391
+ "task_id": 837,
392
+ "task_name": "Rearrange Your Bathroom 4",
393
+ "attempt_id": 690597,
394
+ "embodiment_id": "sawyer",
395
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
396
+ "variant_id": 0,
397
+ "fps": 15,
398
+ "robot_type": "axis_robosuite",
399
+ "camera_keys": {
400
+ "frontview_random_00": "third_person"
401
+ },
402
+ "schema": "reference_policy_fields_v2",
403
+ "image_cache_policy": "encoded_in_per_attempt_shard",
404
+ "image_cache_removed": true,
405
+ "policy_state_dim": 9,
406
+ "action_dim": 9,
407
+ "ee_state_dim": null,
408
+ "policy_state_metadata": {
409
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
410
+ "qpos_indices": [
411
+ 28,
412
+ 29,
413
+ 30,
414
+ 31,
415
+ 32,
416
+ 33,
417
+ 34,
418
+ 35,
419
+ 36
420
+ ],
421
+ "actuator_joint_entries": [
422
+ {
423
+ "actuator_id": 0,
424
+ "actuator_name": "sawyer/right_j0",
425
+ "joint_id": 4,
426
+ "joint_name": "sawyer/right_j0",
427
+ "joint_type": 3,
428
+ "qpos_index": 28
429
+ },
430
+ {
431
+ "actuator_id": 1,
432
+ "actuator_name": "sawyer/right_j1",
433
+ "joint_id": 5,
434
+ "joint_name": "sawyer/right_j1",
435
+ "joint_type": 3,
436
+ "qpos_index": 29
437
+ },
438
+ {
439
+ "actuator_id": 2,
440
+ "actuator_name": "sawyer/right_j2",
441
+ "joint_id": 6,
442
+ "joint_name": "sawyer/right_j2",
443
+ "joint_type": 3,
444
+ "qpos_index": 30
445
+ },
446
+ {
447
+ "actuator_id": 3,
448
+ "actuator_name": "sawyer/right_j3",
449
+ "joint_id": 7,
450
+ "joint_name": "sawyer/right_j3",
451
+ "joint_type": 3,
452
+ "qpos_index": 31
453
+ },
454
+ {
455
+ "actuator_id": 4,
456
+ "actuator_name": "sawyer/right_j4",
457
+ "joint_id": 8,
458
+ "joint_name": "sawyer/right_j4",
459
+ "joint_type": 3,
460
+ "qpos_index": 32
461
+ },
462
+ {
463
+ "actuator_id": 5,
464
+ "actuator_name": "sawyer/right_j5",
465
+ "joint_id": 9,
466
+ "joint_name": "sawyer/right_j5",
467
+ "joint_type": 3,
468
+ "qpos_index": 33
469
+ },
470
+ {
471
+ "actuator_id": 6,
472
+ "actuator_name": "sawyer/right_j6",
473
+ "joint_id": 10,
474
+ "joint_name": "sawyer/right_j6",
475
+ "joint_type": 3,
476
+ "qpos_index": 34
477
+ },
478
+ {
479
+ "actuator_id": 7,
480
+ "actuator_name": "sawyer/r_close",
481
+ "joint_id": 11,
482
+ "joint_name": "sawyer/r_close",
483
+ "joint_type": 2,
484
+ "qpos_index": 35
485
+ },
486
+ {
487
+ "actuator_id": 8,
488
+ "actuator_name": "sawyer/l_close",
489
+ "joint_id": 12,
490
+ "joint_name": "sawyer/l_close",
491
+ "joint_type": 2,
492
+ "qpos_index": 36
493
+ }
494
+ ],
495
+ "skipped_actuators": [],
496
+ "state_dim": 9,
497
+ "action_dim": 9
498
+ },
499
+ "nq": 37,
500
+ "nv": 33,
501
+ "nu": 9,
502
+ "total_episodes_after_write": 1,
503
+ "total_frames_after_write": 366,
504
+ "commit": {
505
+ "schema": "axis_lerobot_preencoded_commit_v1",
506
+ "video_encoding_outside_task_lock": true,
507
+ "encode_seconds": 5.260999778052792,
508
+ "stage_seconds": 0.003563874983228743,
509
+ "lock_wait_seconds": 0.0001308000646531582,
510
+ "lock_work_seconds": 0.0060532219940796494,
511
+ "commit_seconds": 0.006046050926670432
512
+ },
513
+ "camera_group": "randomized",
514
+ "camera_replica_id": 0,
515
+ "capture_id": "camera_randomized_replica_000",
516
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
517
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
518
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_000/metadata.json",
519
+ "logical_camera_names": [
520
+ "frontview"
521
+ ],
522
+ "physical_camera_names": [
523
+ "frontview_random_00"
524
+ ]
525
+ },
526
+ {
527
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
528
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
529
+ "episode_index": 1,
530
+ "frame_count": 366,
531
+ "task_id": 837,
532
+ "task_name": "Rearrange Your Bathroom 4",
533
+ "attempt_id": 690597,
534
+ "embodiment_id": "sawyer",
535
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
536
+ "variant_id": 0,
537
+ "fps": 15,
538
+ "robot_type": "axis_robosuite",
539
+ "camera_keys": {
540
+ "frontview_random_01": "third_person"
541
+ },
542
+ "schema": "reference_policy_fields_v2",
543
+ "image_cache_policy": "encoded_in_per_attempt_shard",
544
+ "image_cache_removed": true,
545
+ "policy_state_dim": 9,
546
+ "action_dim": 9,
547
+ "ee_state_dim": null,
548
+ "policy_state_metadata": {
549
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
550
+ "qpos_indices": [
551
+ 28,
552
+ 29,
553
+ 30,
554
+ 31,
555
+ 32,
556
+ 33,
557
+ 34,
558
+ 35,
559
+ 36
560
+ ],
561
+ "actuator_joint_entries": [
562
+ {
563
+ "actuator_id": 0,
564
+ "actuator_name": "sawyer/right_j0",
565
+ "joint_id": 4,
566
+ "joint_name": "sawyer/right_j0",
567
+ "joint_type": 3,
568
+ "qpos_index": 28
569
+ },
570
+ {
571
+ "actuator_id": 1,
572
+ "actuator_name": "sawyer/right_j1",
573
+ "joint_id": 5,
574
+ "joint_name": "sawyer/right_j1",
575
+ "joint_type": 3,
576
+ "qpos_index": 29
577
+ },
578
+ {
579
+ "actuator_id": 2,
580
+ "actuator_name": "sawyer/right_j2",
581
+ "joint_id": 6,
582
+ "joint_name": "sawyer/right_j2",
583
+ "joint_type": 3,
584
+ "qpos_index": 30
585
+ },
586
+ {
587
+ "actuator_id": 3,
588
+ "actuator_name": "sawyer/right_j3",
589
+ "joint_id": 7,
590
+ "joint_name": "sawyer/right_j3",
591
+ "joint_type": 3,
592
+ "qpos_index": 31
593
+ },
594
+ {
595
+ "actuator_id": 4,
596
+ "actuator_name": "sawyer/right_j4",
597
+ "joint_id": 8,
598
+ "joint_name": "sawyer/right_j4",
599
+ "joint_type": 3,
600
+ "qpos_index": 32
601
+ },
602
+ {
603
+ "actuator_id": 5,
604
+ "actuator_name": "sawyer/right_j5",
605
+ "joint_id": 9,
606
+ "joint_name": "sawyer/right_j5",
607
+ "joint_type": 3,
608
+ "qpos_index": 33
609
+ },
610
+ {
611
+ "actuator_id": 6,
612
+ "actuator_name": "sawyer/right_j6",
613
+ "joint_id": 10,
614
+ "joint_name": "sawyer/right_j6",
615
+ "joint_type": 3,
616
+ "qpos_index": 34
617
+ },
618
+ {
619
+ "actuator_id": 7,
620
+ "actuator_name": "sawyer/r_close",
621
+ "joint_id": 11,
622
+ "joint_name": "sawyer/r_close",
623
+ "joint_type": 2,
624
+ "qpos_index": 35
625
+ },
626
+ {
627
+ "actuator_id": 8,
628
+ "actuator_name": "sawyer/l_close",
629
+ "joint_id": 12,
630
+ "joint_name": "sawyer/l_close",
631
+ "joint_type": 2,
632
+ "qpos_index": 36
633
+ }
634
+ ],
635
+ "skipped_actuators": [],
636
+ "state_dim": 9,
637
+ "action_dim": 9
638
+ },
639
+ "nq": 37,
640
+ "nv": 33,
641
+ "nu": 9,
642
+ "total_episodes_after_write": 2,
643
+ "total_frames_after_write": 732,
644
+ "commit": {
645
+ "schema": "axis_lerobot_preencoded_commit_v1",
646
+ "video_encoding_outside_task_lock": true,
647
+ "encode_seconds": 5.700081339920871,
648
+ "stage_seconds": 0.0034612989984452724,
649
+ "lock_wait_seconds": 0.0001308000646531582,
650
+ "lock_work_seconds": 0.034149651997722685,
651
+ "commit_seconds": 0.031176454038359225
652
+ },
653
+ "camera_group": "randomized",
654
+ "camera_replica_id": 1,
655
+ "capture_id": "camera_randomized_replica_001",
656
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
657
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
658
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_001/metadata.json",
659
+ "logical_camera_names": [
660
+ "frontview"
661
+ ],
662
+ "physical_camera_names": [
663
+ "frontview_random_01"
664
+ ]
665
+ },
666
+ {
667
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
668
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
669
+ "episode_index": 2,
670
+ "frame_count": 366,
671
+ "task_id": 837,
672
+ "task_name": "Rearrange Your Bathroom 4",
673
+ "attempt_id": 690597,
674
+ "embodiment_id": "sawyer",
675
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
676
+ "variant_id": 0,
677
+ "fps": 15,
678
+ "robot_type": "axis_robosuite",
679
+ "camera_keys": {
680
+ "frontview_random_02": "third_person"
681
+ },
682
+ "schema": "reference_policy_fields_v2",
683
+ "image_cache_policy": "encoded_in_per_attempt_shard",
684
+ "image_cache_removed": true,
685
+ "policy_state_dim": 9,
686
+ "action_dim": 9,
687
+ "ee_state_dim": null,
688
+ "policy_state_metadata": {
689
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
690
+ "qpos_indices": [
691
+ 28,
692
+ 29,
693
+ 30,
694
+ 31,
695
+ 32,
696
+ 33,
697
+ 34,
698
+ 35,
699
+ 36
700
+ ],
701
+ "actuator_joint_entries": [
702
+ {
703
+ "actuator_id": 0,
704
+ "actuator_name": "sawyer/right_j0",
705
+ "joint_id": 4,
706
+ "joint_name": "sawyer/right_j0",
707
+ "joint_type": 3,
708
+ "qpos_index": 28
709
+ },
710
+ {
711
+ "actuator_id": 1,
712
+ "actuator_name": "sawyer/right_j1",
713
+ "joint_id": 5,
714
+ "joint_name": "sawyer/right_j1",
715
+ "joint_type": 3,
716
+ "qpos_index": 29
717
+ },
718
+ {
719
+ "actuator_id": 2,
720
+ "actuator_name": "sawyer/right_j2",
721
+ "joint_id": 6,
722
+ "joint_name": "sawyer/right_j2",
723
+ "joint_type": 3,
724
+ "qpos_index": 30
725
+ },
726
+ {
727
+ "actuator_id": 3,
728
+ "actuator_name": "sawyer/right_j3",
729
+ "joint_id": 7,
730
+ "joint_name": "sawyer/right_j3",
731
+ "joint_type": 3,
732
+ "qpos_index": 31
733
+ },
734
+ {
735
+ "actuator_id": 4,
736
+ "actuator_name": "sawyer/right_j4",
737
+ "joint_id": 8,
738
+ "joint_name": "sawyer/right_j4",
739
+ "joint_type": 3,
740
+ "qpos_index": 32
741
+ },
742
+ {
743
+ "actuator_id": 5,
744
+ "actuator_name": "sawyer/right_j5",
745
+ "joint_id": 9,
746
+ "joint_name": "sawyer/right_j5",
747
+ "joint_type": 3,
748
+ "qpos_index": 33
749
+ },
750
+ {
751
+ "actuator_id": 6,
752
+ "actuator_name": "sawyer/right_j6",
753
+ "joint_id": 10,
754
+ "joint_name": "sawyer/right_j6",
755
+ "joint_type": 3,
756
+ "qpos_index": 34
757
+ },
758
+ {
759
+ "actuator_id": 7,
760
+ "actuator_name": "sawyer/r_close",
761
+ "joint_id": 11,
762
+ "joint_name": "sawyer/r_close",
763
+ "joint_type": 2,
764
+ "qpos_index": 35
765
+ },
766
+ {
767
+ "actuator_id": 8,
768
+ "actuator_name": "sawyer/l_close",
769
+ "joint_id": 12,
770
+ "joint_name": "sawyer/l_close",
771
+ "joint_type": 2,
772
+ "qpos_index": 36
773
+ }
774
+ ],
775
+ "skipped_actuators": [],
776
+ "state_dim": 9,
777
+ "action_dim": 9
778
+ },
779
+ "nq": 37,
780
+ "nv": 33,
781
+ "nu": 9,
782
+ "total_episodes_after_write": 3,
783
+ "total_frames_after_write": 1098,
784
+ "commit": {
785
+ "schema": "axis_lerobot_preencoded_commit_v1",
786
+ "video_encoding_outside_task_lock": true,
787
+ "encode_seconds": 6.130598459974863,
788
+ "stage_seconds": 0.003360978909768164,
789
+ "lock_wait_seconds": 0.0001308000646531582,
790
+ "lock_work_seconds": 0.059825234930031,
791
+ "commit_seconds": 0.05666372808627784
792
+ },
793
+ "camera_group": "randomized",
794
+ "camera_replica_id": 2,
795
+ "capture_id": "camera_randomized_replica_002",
796
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
797
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
798
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_002/metadata.json",
799
+ "logical_camera_names": [
800
+ "frontview"
801
+ ],
802
+ "physical_camera_names": [
803
+ "frontview_random_02"
804
+ ]
805
+ },
806
+ {
807
+ "lerobot_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
808
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
809
+ "episode_index": 3,
810
+ "frame_count": 366,
811
+ "task_id": 837,
812
+ "task_name": "Rearrange Your Bathroom 4",
813
+ "attempt_id": 690597,
814
+ "embodiment_id": "sawyer",
815
+ "model_id": "sawyer:task_837:nq37:nv33:nu9",
816
+ "variant_id": 0,
817
+ "fps": 15,
818
+ "robot_type": "axis_robosuite",
819
+ "camera_keys": {
820
+ "frontview_random_03": "third_person"
821
+ },
822
+ "schema": "reference_policy_fields_v2",
823
+ "image_cache_policy": "encoded_in_per_attempt_shard",
824
+ "image_cache_removed": true,
825
+ "policy_state_dim": 9,
826
+ "action_dim": 9,
827
+ "ee_state_dim": null,
828
+ "policy_state_metadata": {
829
+ "state_semantics": "actuated_joint_qpos_in_actuator_order",
830
+ "qpos_indices": [
831
+ 28,
832
+ 29,
833
+ 30,
834
+ 31,
835
+ 32,
836
+ 33,
837
+ 34,
838
+ 35,
839
+ 36
840
+ ],
841
+ "actuator_joint_entries": [
842
+ {
843
+ "actuator_id": 0,
844
+ "actuator_name": "sawyer/right_j0",
845
+ "joint_id": 4,
846
+ "joint_name": "sawyer/right_j0",
847
+ "joint_type": 3,
848
+ "qpos_index": 28
849
+ },
850
+ {
851
+ "actuator_id": 1,
852
+ "actuator_name": "sawyer/right_j1",
853
+ "joint_id": 5,
854
+ "joint_name": "sawyer/right_j1",
855
+ "joint_type": 3,
856
+ "qpos_index": 29
857
+ },
858
+ {
859
+ "actuator_id": 2,
860
+ "actuator_name": "sawyer/right_j2",
861
+ "joint_id": 6,
862
+ "joint_name": "sawyer/right_j2",
863
+ "joint_type": 3,
864
+ "qpos_index": 30
865
+ },
866
+ {
867
+ "actuator_id": 3,
868
+ "actuator_name": "sawyer/right_j3",
869
+ "joint_id": 7,
870
+ "joint_name": "sawyer/right_j3",
871
+ "joint_type": 3,
872
+ "qpos_index": 31
873
+ },
874
+ {
875
+ "actuator_id": 4,
876
+ "actuator_name": "sawyer/right_j4",
877
+ "joint_id": 8,
878
+ "joint_name": "sawyer/right_j4",
879
+ "joint_type": 3,
880
+ "qpos_index": 32
881
+ },
882
+ {
883
+ "actuator_id": 5,
884
+ "actuator_name": "sawyer/right_j5",
885
+ "joint_id": 9,
886
+ "joint_name": "sawyer/right_j5",
887
+ "joint_type": 3,
888
+ "qpos_index": 33
889
+ },
890
+ {
891
+ "actuator_id": 6,
892
+ "actuator_name": "sawyer/right_j6",
893
+ "joint_id": 10,
894
+ "joint_name": "sawyer/right_j6",
895
+ "joint_type": 3,
896
+ "qpos_index": 34
897
+ },
898
+ {
899
+ "actuator_id": 7,
900
+ "actuator_name": "sawyer/r_close",
901
+ "joint_id": 11,
902
+ "joint_name": "sawyer/r_close",
903
+ "joint_type": 2,
904
+ "qpos_index": 35
905
+ },
906
+ {
907
+ "actuator_id": 8,
908
+ "actuator_name": "sawyer/l_close",
909
+ "joint_id": 12,
910
+ "joint_name": "sawyer/l_close",
911
+ "joint_type": 2,
912
+ "qpos_index": 36
913
+ }
914
+ ],
915
+ "skipped_actuators": [],
916
+ "state_dim": 9,
917
+ "action_dim": 9
918
+ },
919
+ "nq": 37,
920
+ "nv": 33,
921
+ "nu": 9,
922
+ "total_episodes_after_write": 4,
923
+ "total_frames_after_write": 1464,
924
+ "commit": {
925
+ "schema": "axis_lerobot_preencoded_commit_v1",
926
+ "video_encoding_outside_task_lock": true,
927
+ "encode_seconds": 6.605255073984154,
928
+ "stage_seconds": 0.0034777430118992925,
929
+ "lock_wait_seconds": 0.0001308000646531582,
930
+ "lock_work_seconds": 0.07542792696040124,
931
+ "commit_seconds": 0.06736192898824811
932
+ },
933
+ "camera_group": "randomized",
934
+ "camera_replica_id": 3,
935
+ "capture_id": "camera_randomized_replica_003",
936
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
937
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
938
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_003/metadata.json",
939
+ "logical_camera_names": [
940
+ "frontview"
941
+ ],
942
+ "physical_camera_names": [
943
+ "frontview_random_03"
944
+ ]
945
+ }
946
+ ],
947
+ "camera_dataset_outputs": [
948
+ {
949
+ "capture_id": "camera_fixed_replica_000",
950
+ "camera_group": "fixed",
951
+ "camera_replica_id": 0,
952
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
953
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_fixed/task_837_sawyer_rearrange_your_bathroom_4",
954
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_fixed_task_837_sawyer_rearrange_your_bathroom_4",
955
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_fixed/replica_000/metadata.json",
956
+ "render_fingerprint": "e7ebab24df2f10be9aa9c69ef1dd9f69d39445f0d25df024de22251924a34f64",
957
+ "logical_camera_names": [
958
+ "frontview"
959
+ ],
960
+ "physical_camera_names": [
961
+ "frontview"
962
+ ],
963
+ "episode_index": 0,
964
+ "frame_count": 366,
965
+ "commit_status": "committed"
966
+ },
967
+ {
968
+ "capture_id": "camera_randomized_replica_000",
969
+ "camera_group": "randomized",
970
+ "camera_replica_id": 0,
971
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
972
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
973
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
974
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_000/metadata.json",
975
+ "render_fingerprint": "d2419ebdec5766cfeb779afb194f62ec89f872a53a38e4431e702fbf0d851713",
976
+ "logical_camera_names": [
977
+ "frontview"
978
+ ],
979
+ "physical_camera_names": [
980
+ "frontview_random_00"
981
+ ],
982
+ "episode_index": 0,
983
+ "frame_count": 366,
984
+ "commit_status": "committed"
985
+ },
986
+ {
987
+ "capture_id": "camera_randomized_replica_001",
988
+ "camera_group": "randomized",
989
+ "camera_replica_id": 1,
990
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
991
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
992
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
993
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_001/metadata.json",
994
+ "render_fingerprint": "14800d71bb32a1cbffbf32e419328e47bac3679b1272f2f017a8c27c4196fff6",
995
+ "logical_camera_names": [
996
+ "frontview"
997
+ ],
998
+ "physical_camera_names": [
999
+ "frontview_random_01"
1000
+ ],
1001
+ "episode_index": 1,
1002
+ "frame_count": 366,
1003
+ "commit_status": "committed"
1004
+ },
1005
+ {
1006
+ "capture_id": "camera_randomized_replica_002",
1007
+ "camera_group": "randomized",
1008
+ "camera_replica_id": 2,
1009
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
1010
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
1011
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
1012
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_002/metadata.json",
1013
+ "render_fingerprint": "58a58dd9385b30db9233b0de40b6d4fa188f799edbb387dc11621881033cc6a9",
1014
+ "logical_camera_names": [
1015
+ "frontview"
1016
+ ],
1017
+ "physical_camera_names": [
1018
+ "frontview_random_02"
1019
+ ],
1020
+ "episode_index": 2,
1021
+ "frame_count": 366,
1022
+ "commit_status": "committed"
1023
+ },
1024
+ {
1025
+ "capture_id": "camera_randomized_replica_003",
1026
+ "camera_group": "randomized",
1027
+ "camera_replica_id": 3,
1028
+ "source_trajectory_group_id": "task_837_attempt_690597_variant_000",
1029
+ "dataset_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/lerobot_tasks/camera_randomized/task_837_sawyer_rearrange_your_bathroom_4",
1030
+ "repo_id": "local/axis_multi_embodiment_sawyer_camera_randomized_task_837_sawyer_rearrange_your_bathroom_4",
1031
+ "metadata_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/camera_randomized/replica_003/metadata.json",
1032
+ "render_fingerprint": "c430ded775cc67d5bb03aeb7f042b68b57bea165d255d953957a7384c14ae327",
1033
+ "logical_camera_names": [
1034
+ "frontview"
1035
+ ],
1036
+ "physical_camera_names": [
1037
+ "frontview_random_03"
1038
+ ],
1039
+ "episode_index": 3,
1040
+ "frame_count": 366,
1041
+ "commit_status": "committed"
1042
+ }
1043
+ ],
1044
+ "capture_manifest_path": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/data/sawyer/worker_runs/task_837_attempt_690597_variant_000/episode_metadata/task_837_sawyer_rearrange_your_bathroom_4/task_837_attempt_690597_sawyer_variant_000/capture_manifest.json",
1045
+ "num_lerobot_episodes": 5,
1046
+ "num_state_frames_replayed": 366,
1047
+ "num_camera_frames_rendered": 1830,
1048
+ "num_lerobot_frames_written": 1830,
1049
+ "preview_videos": {},
1050
+ "contact_sheet": null,
1051
+ "randomization_config": {
1052
+ "enabled": true,
1053
+ "render_profile_id": "retarget_single_arm_table_arena_v1",
1054
+ "environment_backend": "robosuite.environments.base.MujocoEnv",
1055
+ "randomizer_backend": "axis_mode_dispatch_with_robosuite_mjmod",
1056
+ "randomizer_classes": [
1057
+ "TextureModder",
1058
+ "CameraModder",
1059
+ "LightingModder"
1060
+ ],
1061
+ "custom_camera_sampler_modes": [
1062
+ "optical_pose_box_v1",
1063
+ "base_table_sector_lookat_v1"
1064
+ ],
1065
+ "variant_seed": 976203305,
1066
+ "texture_seed": 1366188774,
1067
+ "table_material_seed": 219917448,
1068
+ "floor_material_seed": 300883607,
1069
+ "wall_material_seed": 1172172646,
1070
+ "camera_seed": 3563969920,
1071
+ "lighting_seed": 3215281540,
1072
+ "lighting_intensity_seed": 278307887,
1073
+ "texture": {
1074
+ "modder_class": "robosuite.utils.mjmod.TextureModder",
1075
+ "profile_enabled": true,
1076
+ "applied": true,
1077
+ "mode": "full_material_replacement",
1078
+ "scope": "configured_scene_surfaces_only",
1079
+ "configured_surfaces": [
1080
+ "table",
1081
+ "floor",
1082
+ "wall"
1083
+ ],
1084
+ "applied_surfaces": [
1085
+ "table",
1086
+ "floor",
1087
+ "wall"
1088
+ ],
1089
+ "geom_names": [
1090
+ "robosuite_arena_floor",
1091
+ "robosuite_arena_table_visual",
1092
+ "robosuite_arena_wall_front_visual",
1093
+ "robosuite_arena_wall_left_visual",
1094
+ "robosuite_arena_wall_leftcorner_visual",
1095
+ "robosuite_arena_wall_rear_visual",
1096
+ "robosuite_arena_wall_right_visual",
1097
+ "robosuite_arena_wall_rightcorner_visual"
1098
+ ],
1099
+ "surface_geom_names": {
1100
+ "table": [
1101
+ "robosuite_arena_table_visual"
1102
+ ],
1103
+ "floor": [
1104
+ "robosuite_arena_floor"
1105
+ ],
1106
+ "wall": [
1107
+ "robosuite_arena_wall_front_visual",
1108
+ "robosuite_arena_wall_left_visual",
1109
+ "robosuite_arena_wall_leftcorner_visual",
1110
+ "robosuite_arena_wall_rear_visual",
1111
+ "robosuite_arena_wall_right_visual",
1112
+ "robosuite_arena_wall_rightcorner_visual"
1113
+ ]
1114
+ },
1115
+ "randomize_skybox": false,
1116
+ "randomize_local": false,
1117
+ "randomize_material": true,
1118
+ "texture_variations": [
1119
+ "image"
1120
+ ],
1121
+ "material_family_sampling": "seeded_random_choice_from_scene_curated_bank_per_surface",
1122
+ "external_texture_asset_dirs": {
1123
+ "prepared_256": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/assets/table_textures/polyhaven",
1124
+ "curated_tabletop_1k": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/assets/table_textures/tabletop_1k"
1125
+ },
1126
+ "external_texture_manifests": {
1127
+ "prepared_256": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/assets/table_textures/polyhaven/manifest.json",
1128
+ "curated_tabletop_1k": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/assets/table_textures/tabletop_1k/manifest.json"
1129
+ },
1130
+ "table_material_bank_size": 33,
1131
+ "surface_material_bank_sizes": {
1132
+ "table": 33,
1133
+ "floor": 681,
1134
+ "wall": 615
1135
+ },
1136
+ "surface_material_filters": {
1137
+ "table": {
1138
+ "mode": "default_surface_bank",
1139
+ "asset_ids": null,
1140
+ "candidate_count": 33
1141
+ },
1142
+ "floor": {
1143
+ "mode": "default_surface_bank",
1144
+ "asset_ids": null,
1145
+ "candidate_count": 681
1146
+ },
1147
+ "wall": {
1148
+ "mode": "default_surface_bank",
1149
+ "asset_ids": null,
1150
+ "candidate_count": 615
1151
+ }
1152
+ },
1153
+ "table_material_bank_min_required": 33,
1154
+ "surface_material_samples": {
1155
+ "table": {
1156
+ "surface_name": "table",
1157
+ "material_family_index": 3,
1158
+ "surface_candidate_index": 3,
1159
+ "surface_candidate_count": 33,
1160
+ "material_variant_id": "polyhaven_tabletop_kitchen_wood",
1161
+ "material_family": "polyhaven_tabletop",
1162
+ "texture_variation": "image",
1163
+ "rgb1": null,
1164
+ "rgb2": null,
1165
+ "noise_fraction": null,
1166
+ "gradient_vertical": null,
1167
+ "texture_file": "kitchen_wood_1k.jpg",
1168
+ "texture_bank_id": "axis_curated_tabletop_1k_v1",
1169
+ "sha256": "6d0170f1ab1b9353aab6f0382a7753026e32a5b58f779651cd05a91618dfcdab",
1170
+ "bytes": 879137,
1171
+ "source_asset_id": "kitchen_wood",
1172
+ "source_asset_type": "textures",
1173
+ "source_url": "https://polyhaven.com/a/kitchen_wood",
1174
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/kitchen_wood/kitchen_wood_diff_1k.jpg",
1175
+ "license": "CC0",
1176
+ "source_map_type": null,
1177
+ "source_resolution": "1k",
1178
+ "source_format": "jpg",
1179
+ "source_md5": "e7e721ebed8ad133cdeb8273a1f104ef",
1180
+ "source_bytes": 879137,
1181
+ "resize": null,
1182
+ "material": [
1183
+ 0.07462906941206458,
1184
+ 0.31624559986586565,
1185
+ 0.2023284645395954
1186
+ ],
1187
+ "surface_constraints": {},
1188
+ "geom_updates": {
1189
+ "robosuite_arena_table_visual": {
1190
+ "geom_id": 39,
1191
+ "material_id": 12,
1192
+ "geom_rgba": [
1193
+ 1.0,
1194
+ 1.0,
1195
+ 1.0,
1196
+ 1.0
1197
+ ],
1198
+ "mat_rgba": [
1199
+ 1.0,
1200
+ 1.0,
1201
+ 1.0,
1202
+ 1.0
1203
+ ],
1204
+ "reflectance": 0.07462906837463379,
1205
+ "shininess": 0.31624558568000793,
1206
+ "specular": 0.20232845842838287,
1207
+ "texture_bitmap_shape": [
1208
+ 1181,
1209
+ 1181,
1210
+ 3
1211
+ ],
1212
+ "image_luminance_guard": null
1213
+ }
1214
+ }
1215
+ },
1216
+ "floor": {
1217
+ "surface_name": "floor",
1218
+ "material_family_index": 29,
1219
+ "surface_candidate_index": 26,
1220
+ "surface_candidate_count": 681,
1221
+ "material_variant_id": "polyhaven_textures_0029_bark_brown_02",
1222
+ "material_family": "polyhaven_wood",
1223
+ "texture_variation": "image",
1224
+ "rgb1": null,
1225
+ "rgb2": null,
1226
+ "noise_fraction": null,
1227
+ "gradient_vertical": null,
1228
+ "texture_file": "downloaded_256/polyhaven_0029_textures_bark_brown_02.jpg",
1229
+ "texture_bank_id": "polyhaven_prepared_256_v1",
1230
+ "sha256": "c3ce47bf28ae68b2eaf6883f81ccd14fb48022500ab5376de20727acce931fd8",
1231
+ "bytes": 25204,
1232
+ "source_asset_id": "bark_brown_02",
1233
+ "source_asset_type": "textures",
1234
+ "source_url": "https://polyhaven.com/a/bark_brown_02",
1235
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/bark_brown_02/bark_brown_02_diff_1k.jpg",
1236
+ "license": "CC0",
1237
+ "source_map_type": "Diffuse",
1238
+ "source_resolution": "1k",
1239
+ "source_format": "jpg",
1240
+ "source_md5": "6669cca520594bdca19f94084984ab72",
1241
+ "source_bytes": 659592,
1242
+ "resize": {
1243
+ "width": 256,
1244
+ "height": 256,
1245
+ "method": "PIL.Image.Resampling.LANCZOS"
1246
+ },
1247
+ "material": [
1248
+ 0.015812189543391267,
1249
+ 0.3260444876064508,
1250
+ 0.10977286073596401
1251
+ ],
1252
+ "surface_constraints": {},
1253
+ "geom_updates": {
1254
+ "robosuite_arena_floor": {
1255
+ "geom_id": 0,
1256
+ "material_id": 11,
1257
+ "geom_rgba": [
1258
+ 1.0,
1259
+ 1.0,
1260
+ 1.0,
1261
+ 1.0
1262
+ ],
1263
+ "mat_rgba": [
1264
+ 1.0,
1265
+ 1.0,
1266
+ 1.0,
1267
+ 1.0
1268
+ ],
1269
+ "reflectance": 0.015812190249562263,
1270
+ "shininess": 0.326044499874115,
1271
+ "specular": 0.10977286100387573,
1272
+ "texture_bitmap_shape": [
1273
+ 255,
1274
+ 255,
1275
+ 3
1276
+ ],
1277
+ "image_luminance_guard": null
1278
+ }
1279
+ }
1280
+ },
1281
+ "wall": {
1282
+ "surface_name": "wall",
1283
+ "material_family_index": 387,
1284
+ "surface_candidate_index": 295,
1285
+ "surface_candidate_count": 615,
1286
+ "material_variant_id": "polyhaven_textures_0387_mixed_brick_wall",
1287
+ "material_family": "polyhaven_brick",
1288
+ "texture_variation": "image",
1289
+ "rgb1": null,
1290
+ "rgb2": null,
1291
+ "noise_fraction": null,
1292
+ "gradient_vertical": null,
1293
+ "texture_file": "downloaded_256/polyhaven_0387_textures_mixed_brick_wall.jpg",
1294
+ "texture_bank_id": "polyhaven_prepared_256_v1",
1295
+ "sha256": "51ff658944397d70ff331a022bd68170c28e36703248bb3185c4c38ac25cf007",
1296
+ "bytes": 23133,
1297
+ "source_asset_id": "mixed_brick_wall",
1298
+ "source_asset_type": "textures",
1299
+ "source_url": "https://polyhaven.com/a/mixed_brick_wall",
1300
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/mixed_brick_wall/mixed_brick_wall_diff_1k.jpg",
1301
+ "license": "CC0",
1302
+ "source_map_type": "Diffuse",
1303
+ "source_resolution": "1k",
1304
+ "source_format": "jpg",
1305
+ "source_md5": "9658d2715fe6b365db729ff9cb0069fd",
1306
+ "source_bytes": 919324,
1307
+ "resize": {
1308
+ "width": 256,
1309
+ "height": 256,
1310
+ "method": "PIL.Image.Resampling.LANCZOS"
1311
+ },
1312
+ "material": [
1313
+ 0.18532214371317063,
1314
+ 0.23256107878616375,
1315
+ 0.20816552097821134
1316
+ ],
1317
+ "surface_constraints": {},
1318
+ "geom_updates": {
1319
+ "robosuite_arena_wall_front_visual": {
1320
+ "geom_id": 6,
1321
+ "material_id": 14,
1322
+ "geom_rgba": [
1323
+ 1.0,
1324
+ 1.0,
1325
+ 1.0,
1326
+ 1.0
1327
+ ],
1328
+ "mat_rgba": [
1329
+ 1.0,
1330
+ 1.0,
1331
+ 1.0,
1332
+ 1.0
1333
+ ],
1334
+ "reflectance": 0.18532215058803558,
1335
+ "shininess": 0.23256108164787292,
1336
+ "specular": 0.20816552639007568,
1337
+ "texture_bitmap_shape": [
1338
+ 880,
1339
+ 880,
1340
+ 3
1341
+ ],
1342
+ "image_luminance_guard": null
1343
+ },
1344
+ "robosuite_arena_wall_left_visual": {
1345
+ "geom_id": 3,
1346
+ "material_id": 14,
1347
+ "geom_rgba": [
1348
+ 1.0,
1349
+ 1.0,
1350
+ 1.0,
1351
+ 1.0
1352
+ ],
1353
+ "mat_rgba": [
1354
+ 1.0,
1355
+ 1.0,
1356
+ 1.0,
1357
+ 1.0
1358
+ ],
1359
+ "reflectance": 0.18532215058803558,
1360
+ "shininess": 0.23256108164787292,
1361
+ "specular": 0.20816552639007568,
1362
+ "texture_bitmap_shape": [
1363
+ 880,
1364
+ 880,
1365
+ 3
1366
+ ],
1367
+ "image_luminance_guard": null
1368
+ },
1369
+ "robosuite_arena_wall_leftcorner_visual": {
1370
+ "geom_id": 1,
1371
+ "material_id": 14,
1372
+ "geom_rgba": [
1373
+ 1.0,
1374
+ 1.0,
1375
+ 1.0,
1376
+ 1.0
1377
+ ],
1378
+ "mat_rgba": [
1379
+ 1.0,
1380
+ 1.0,
1381
+ 1.0,
1382
+ 1.0
1383
+ ],
1384
+ "reflectance": 0.18532215058803558,
1385
+ "shininess": 0.23256108164787292,
1386
+ "specular": 0.20816552639007568,
1387
+ "texture_bitmap_shape": [
1388
+ 880,
1389
+ 880,
1390
+ 3
1391
+ ],
1392
+ "image_luminance_guard": null
1393
+ },
1394
+ "robosuite_arena_wall_rear_visual": {
1395
+ "geom_id": 5,
1396
+ "material_id": 14,
1397
+ "geom_rgba": [
1398
+ 1.0,
1399
+ 1.0,
1400
+ 1.0,
1401
+ 1.0
1402
+ ],
1403
+ "mat_rgba": [
1404
+ 1.0,
1405
+ 1.0,
1406
+ 1.0,
1407
+ 1.0
1408
+ ],
1409
+ "reflectance": 0.18532215058803558,
1410
+ "shininess": 0.23256108164787292,
1411
+ "specular": 0.20816552639007568,
1412
+ "texture_bitmap_shape": [
1413
+ 880,
1414
+ 880,
1415
+ 3
1416
+ ],
1417
+ "image_luminance_guard": null
1418
+ },
1419
+ "robosuite_arena_wall_right_visual": {
1420
+ "geom_id": 4,
1421
+ "material_id": 14,
1422
+ "geom_rgba": [
1423
+ 1.0,
1424
+ 1.0,
1425
+ 1.0,
1426
+ 1.0
1427
+ ],
1428
+ "mat_rgba": [
1429
+ 1.0,
1430
+ 1.0,
1431
+ 1.0,
1432
+ 1.0
1433
+ ],
1434
+ "reflectance": 0.18532215058803558,
1435
+ "shininess": 0.23256108164787292,
1436
+ "specular": 0.20816552639007568,
1437
+ "texture_bitmap_shape": [
1438
+ 880,
1439
+ 880,
1440
+ 3
1441
+ ],
1442
+ "image_luminance_guard": null
1443
+ },
1444
+ "robosuite_arena_wall_rightcorner_visual": {
1445
+ "geom_id": 2,
1446
+ "material_id": 14,
1447
+ "geom_rgba": [
1448
+ 1.0,
1449
+ 1.0,
1450
+ 1.0,
1451
+ 1.0
1452
+ ],
1453
+ "mat_rgba": [
1454
+ 1.0,
1455
+ 1.0,
1456
+ 1.0,
1457
+ 1.0
1458
+ ],
1459
+ "reflectance": 0.18532215058803558,
1460
+ "shininess": 0.23256108164787292,
1461
+ "specular": 0.20816552639007568,
1462
+ "texture_bitmap_shape": [
1463
+ 880,
1464
+ 880,
1465
+ 3
1466
+ ],
1467
+ "image_luminance_guard": null
1468
+ }
1469
+ }
1470
+ }
1471
+ },
1472
+ "table_material_sample": {
1473
+ "surface_name": "table",
1474
+ "material_family_index": 3,
1475
+ "surface_candidate_index": 3,
1476
+ "surface_candidate_count": 33,
1477
+ "material_variant_id": "polyhaven_tabletop_kitchen_wood",
1478
+ "material_family": "polyhaven_tabletop",
1479
+ "texture_variation": "image",
1480
+ "rgb1": null,
1481
+ "rgb2": null,
1482
+ "noise_fraction": null,
1483
+ "gradient_vertical": null,
1484
+ "texture_file": "kitchen_wood_1k.jpg",
1485
+ "texture_bank_id": "axis_curated_tabletop_1k_v1",
1486
+ "sha256": "6d0170f1ab1b9353aab6f0382a7753026e32a5b58f779651cd05a91618dfcdab",
1487
+ "bytes": 879137,
1488
+ "source_asset_id": "kitchen_wood",
1489
+ "source_asset_type": "textures",
1490
+ "source_url": "https://polyhaven.com/a/kitchen_wood",
1491
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/kitchen_wood/kitchen_wood_diff_1k.jpg",
1492
+ "license": "CC0",
1493
+ "source_map_type": null,
1494
+ "source_resolution": "1k",
1495
+ "source_format": "jpg",
1496
+ "source_md5": "e7e721ebed8ad133cdeb8273a1f104ef",
1497
+ "source_bytes": 879137,
1498
+ "resize": null,
1499
+ "material": [
1500
+ 0.07462906941206458,
1501
+ 0.31624559986586565,
1502
+ 0.2023284645395954
1503
+ ],
1504
+ "surface_constraints": {},
1505
+ "geom_updates": {
1506
+ "robosuite_arena_table_visual": {
1507
+ "geom_id": 39,
1508
+ "material_id": 12,
1509
+ "geom_rgba": [
1510
+ 1.0,
1511
+ 1.0,
1512
+ 1.0,
1513
+ 1.0
1514
+ ],
1515
+ "mat_rgba": [
1516
+ 1.0,
1517
+ 1.0,
1518
+ 1.0,
1519
+ 1.0
1520
+ ],
1521
+ "reflectance": 0.07462906837463379,
1522
+ "shininess": 0.31624558568000793,
1523
+ "specular": 0.20232845842838287,
1524
+ "texture_bitmap_shape": [
1525
+ 1181,
1526
+ 1181,
1527
+ 3
1528
+ ],
1529
+ "image_luminance_guard": null
1530
+ }
1531
+ }
1532
+ },
1533
+ "floor_material_sample": {
1534
+ "surface_name": "floor",
1535
+ "material_family_index": 29,
1536
+ "surface_candidate_index": 26,
1537
+ "surface_candidate_count": 681,
1538
+ "material_variant_id": "polyhaven_textures_0029_bark_brown_02",
1539
+ "material_family": "polyhaven_wood",
1540
+ "texture_variation": "image",
1541
+ "rgb1": null,
1542
+ "rgb2": null,
1543
+ "noise_fraction": null,
1544
+ "gradient_vertical": null,
1545
+ "texture_file": "downloaded_256/polyhaven_0029_textures_bark_brown_02.jpg",
1546
+ "texture_bank_id": "polyhaven_prepared_256_v1",
1547
+ "sha256": "c3ce47bf28ae68b2eaf6883f81ccd14fb48022500ab5376de20727acce931fd8",
1548
+ "bytes": 25204,
1549
+ "source_asset_id": "bark_brown_02",
1550
+ "source_asset_type": "textures",
1551
+ "source_url": "https://polyhaven.com/a/bark_brown_02",
1552
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/bark_brown_02/bark_brown_02_diff_1k.jpg",
1553
+ "license": "CC0",
1554
+ "source_map_type": "Diffuse",
1555
+ "source_resolution": "1k",
1556
+ "source_format": "jpg",
1557
+ "source_md5": "6669cca520594bdca19f94084984ab72",
1558
+ "source_bytes": 659592,
1559
+ "resize": {
1560
+ "width": 256,
1561
+ "height": 256,
1562
+ "method": "PIL.Image.Resampling.LANCZOS"
1563
+ },
1564
+ "material": [
1565
+ 0.015812189543391267,
1566
+ 0.3260444876064508,
1567
+ 0.10977286073596401
1568
+ ],
1569
+ "surface_constraints": {},
1570
+ "geom_updates": {
1571
+ "robosuite_arena_floor": {
1572
+ "geom_id": 0,
1573
+ "material_id": 11,
1574
+ "geom_rgba": [
1575
+ 1.0,
1576
+ 1.0,
1577
+ 1.0,
1578
+ 1.0
1579
+ ],
1580
+ "mat_rgba": [
1581
+ 1.0,
1582
+ 1.0,
1583
+ 1.0,
1584
+ 1.0
1585
+ ],
1586
+ "reflectance": 0.015812190249562263,
1587
+ "shininess": 0.326044499874115,
1588
+ "specular": 0.10977286100387573,
1589
+ "texture_bitmap_shape": [
1590
+ 255,
1591
+ 255,
1592
+ 3
1593
+ ],
1594
+ "image_luminance_guard": null
1595
+ }
1596
+ }
1597
+ },
1598
+ "wall_material_sample": {
1599
+ "surface_name": "wall",
1600
+ "material_family_index": 387,
1601
+ "surface_candidate_index": 295,
1602
+ "surface_candidate_count": 615,
1603
+ "material_variant_id": "polyhaven_textures_0387_mixed_brick_wall",
1604
+ "material_family": "polyhaven_brick",
1605
+ "texture_variation": "image",
1606
+ "rgb1": null,
1607
+ "rgb2": null,
1608
+ "noise_fraction": null,
1609
+ "gradient_vertical": null,
1610
+ "texture_file": "downloaded_256/polyhaven_0387_textures_mixed_brick_wall.jpg",
1611
+ "texture_bank_id": "polyhaven_prepared_256_v1",
1612
+ "sha256": "51ff658944397d70ff331a022bd68170c28e36703248bb3185c4c38ac25cf007",
1613
+ "bytes": 23133,
1614
+ "source_asset_id": "mixed_brick_wall",
1615
+ "source_asset_type": "textures",
1616
+ "source_url": "https://polyhaven.com/a/mixed_brick_wall",
1617
+ "direct_download_url": "https://dl.polyhaven.org/file/ph-assets/Textures/jpg/1k/mixed_brick_wall/mixed_brick_wall_diff_1k.jpg",
1618
+ "license": "CC0",
1619
+ "source_map_type": "Diffuse",
1620
+ "source_resolution": "1k",
1621
+ "source_format": "jpg",
1622
+ "source_md5": "9658d2715fe6b365db729ff9cb0069fd",
1623
+ "source_bytes": 919324,
1624
+ "resize": {
1625
+ "width": 256,
1626
+ "height": 256,
1627
+ "method": "PIL.Image.Resampling.LANCZOS"
1628
+ },
1629
+ "material": [
1630
+ 0.18532214371317063,
1631
+ 0.23256107878616375,
1632
+ 0.20816552097821134
1633
+ ],
1634
+ "surface_constraints": {},
1635
+ "geom_updates": {
1636
+ "robosuite_arena_wall_front_visual": {
1637
+ "geom_id": 6,
1638
+ "material_id": 14,
1639
+ "geom_rgba": [
1640
+ 1.0,
1641
+ 1.0,
1642
+ 1.0,
1643
+ 1.0
1644
+ ],
1645
+ "mat_rgba": [
1646
+ 1.0,
1647
+ 1.0,
1648
+ 1.0,
1649
+ 1.0
1650
+ ],
1651
+ "reflectance": 0.18532215058803558,
1652
+ "shininess": 0.23256108164787292,
1653
+ "specular": 0.20816552639007568,
1654
+ "texture_bitmap_shape": [
1655
+ 880,
1656
+ 880,
1657
+ 3
1658
+ ],
1659
+ "image_luminance_guard": null
1660
+ },
1661
+ "robosuite_arena_wall_left_visual": {
1662
+ "geom_id": 3,
1663
+ "material_id": 14,
1664
+ "geom_rgba": [
1665
+ 1.0,
1666
+ 1.0,
1667
+ 1.0,
1668
+ 1.0
1669
+ ],
1670
+ "mat_rgba": [
1671
+ 1.0,
1672
+ 1.0,
1673
+ 1.0,
1674
+ 1.0
1675
+ ],
1676
+ "reflectance": 0.18532215058803558,
1677
+ "shininess": 0.23256108164787292,
1678
+ "specular": 0.20816552639007568,
1679
+ "texture_bitmap_shape": [
1680
+ 880,
1681
+ 880,
1682
+ 3
1683
+ ],
1684
+ "image_luminance_guard": null
1685
+ },
1686
+ "robosuite_arena_wall_leftcorner_visual": {
1687
+ "geom_id": 1,
1688
+ "material_id": 14,
1689
+ "geom_rgba": [
1690
+ 1.0,
1691
+ 1.0,
1692
+ 1.0,
1693
+ 1.0
1694
+ ],
1695
+ "mat_rgba": [
1696
+ 1.0,
1697
+ 1.0,
1698
+ 1.0,
1699
+ 1.0
1700
+ ],
1701
+ "reflectance": 0.18532215058803558,
1702
+ "shininess": 0.23256108164787292,
1703
+ "specular": 0.20816552639007568,
1704
+ "texture_bitmap_shape": [
1705
+ 880,
1706
+ 880,
1707
+ 3
1708
+ ],
1709
+ "image_luminance_guard": null
1710
+ },
1711
+ "robosuite_arena_wall_rear_visual": {
1712
+ "geom_id": 5,
1713
+ "material_id": 14,
1714
+ "geom_rgba": [
1715
+ 1.0,
1716
+ 1.0,
1717
+ 1.0,
1718
+ 1.0
1719
+ ],
1720
+ "mat_rgba": [
1721
+ 1.0,
1722
+ 1.0,
1723
+ 1.0,
1724
+ 1.0
1725
+ ],
1726
+ "reflectance": 0.18532215058803558,
1727
+ "shininess": 0.23256108164787292,
1728
+ "specular": 0.20816552639007568,
1729
+ "texture_bitmap_shape": [
1730
+ 880,
1731
+ 880,
1732
+ 3
1733
+ ],
1734
+ "image_luminance_guard": null
1735
+ },
1736
+ "robosuite_arena_wall_right_visual": {
1737
+ "geom_id": 4,
1738
+ "material_id": 14,
1739
+ "geom_rgba": [
1740
+ 1.0,
1741
+ 1.0,
1742
+ 1.0,
1743
+ 1.0
1744
+ ],
1745
+ "mat_rgba": [
1746
+ 1.0,
1747
+ 1.0,
1748
+ 1.0,
1749
+ 1.0
1750
+ ],
1751
+ "reflectance": 0.18532215058803558,
1752
+ "shininess": 0.23256108164787292,
1753
+ "specular": 0.20816552639007568,
1754
+ "texture_bitmap_shape": [
1755
+ 880,
1756
+ 880,
1757
+ 3
1758
+ ],
1759
+ "image_luminance_guard": null
1760
+ },
1761
+ "robosuite_arena_wall_rightcorner_visual": {
1762
+ "geom_id": 2,
1763
+ "material_id": 14,
1764
+ "geom_rgba": [
1765
+ 1.0,
1766
+ 1.0,
1767
+ 1.0,
1768
+ 1.0
1769
+ ],
1770
+ "mat_rgba": [
1771
+ 1.0,
1772
+ 1.0,
1773
+ 1.0,
1774
+ 1.0
1775
+ ],
1776
+ "reflectance": 0.18532215058803558,
1777
+ "shininess": 0.23256108164787292,
1778
+ "specular": 0.20816552639007568,
1779
+ "texture_bitmap_shape": [
1780
+ 880,
1781
+ 880,
1782
+ 3
1783
+ ],
1784
+ "image_luminance_guard": null
1785
+ }
1786
+ }
1787
+ },
1788
+ "geom_rgba": {
1789
+ "robosuite_arena_floor": [
1790
+ 1.0,
1791
+ 1.0,
1792
+ 1.0,
1793
+ 1.0
1794
+ ],
1795
+ "robosuite_arena_table_visual": [
1796
+ 1.0,
1797
+ 1.0,
1798
+ 1.0,
1799
+ 1.0
1800
+ ],
1801
+ "robosuite_arena_wall_front_visual": [
1802
+ 1.0,
1803
+ 1.0,
1804
+ 1.0,
1805
+ 1.0
1806
+ ],
1807
+ "robosuite_arena_wall_left_visual": [
1808
+ 1.0,
1809
+ 1.0,
1810
+ 1.0,
1811
+ 1.0
1812
+ ],
1813
+ "robosuite_arena_wall_leftcorner_visual": [
1814
+ 1.0,
1815
+ 1.0,
1816
+ 1.0,
1817
+ 1.0
1818
+ ],
1819
+ "robosuite_arena_wall_rear_visual": [
1820
+ 1.0,
1821
+ 1.0,
1822
+ 1.0,
1823
+ 1.0
1824
+ ],
1825
+ "robosuite_arena_wall_right_visual": [
1826
+ 1.0,
1827
+ 1.0,
1828
+ 1.0,
1829
+ 1.0
1830
+ ],
1831
+ "robosuite_arena_wall_rightcorner_visual": [
1832
+ 1.0,
1833
+ 1.0,
1834
+ 1.0,
1835
+ 1.0
1836
+ ]
1837
+ }
1838
+ },
1839
+ "surface_constraints": {
1840
+ "configured": {},
1841
+ "image_luminance_guard_scope": "uploaded_randomized_image_textures",
1842
+ "image_luminance_guard_active": false,
1843
+ "material_caps_scope": "fixed_render_profile_all_runs",
1844
+ "material_cap_results": {}
1845
+ },
1846
+ "cameras": {
1847
+ "backend": "axis_semantic_sampler_with_legacy_camera_modder_dispatch",
1848
+ "legacy_modder_class": "robosuite.utils.mjmod.CameraModder",
1849
+ "profile_enabled": true,
1850
+ "applied": true,
1851
+ "camera_names": [
1852
+ "frontview",
1853
+ "frontview_random_00",
1854
+ "frontview_random_01",
1855
+ "frontview_random_02",
1856
+ "frontview_random_03"
1857
+ ],
1858
+ "randomizable_camera_names": [
1859
+ "frontview_random_00",
1860
+ "frontview_random_01",
1861
+ "frontview_random_02",
1862
+ "frontview_random_03"
1863
+ ],
1864
+ "applied_camera_names": [
1865
+ "frontview_random_00",
1866
+ "frontview_random_01",
1867
+ "frontview_random_02",
1868
+ "frontview_random_03"
1869
+ ],
1870
+ "per_camera": {
1871
+ "frontview": {
1872
+ "enabled": false,
1873
+ "randomize_position": true,
1874
+ "randomize_rotation": true,
1875
+ "randomize_fovy": true,
1876
+ "position_perturbation_size": 0.12,
1877
+ "rotation_perturbation_size": 0.18,
1878
+ "fovy_perturbation_size": 4.0
1879
+ },
1880
+ "frontview_random_00": {
1881
+ "enabled": true,
1882
+ "randomize_position": true,
1883
+ "randomize_rotation": true,
1884
+ "randomize_fovy": true,
1885
+ "position_perturbation_size": 0.12,
1886
+ "rotation_perturbation_size": 0.18,
1887
+ "fovy_perturbation_size": 4.0
1888
+ },
1889
+ "frontview_random_01": {
1890
+ "enabled": true,
1891
+ "randomize_position": true,
1892
+ "randomize_rotation": true,
1893
+ "randomize_fovy": true,
1894
+ "position_perturbation_size": 0.12,
1895
+ "rotation_perturbation_size": 0.18,
1896
+ "fovy_perturbation_size": 4.0
1897
+ },
1898
+ "frontview_random_02": {
1899
+ "enabled": true,
1900
+ "randomize_position": true,
1901
+ "randomize_rotation": true,
1902
+ "randomize_fovy": true,
1903
+ "position_perturbation_size": 0.12,
1904
+ "rotation_perturbation_size": 0.18,
1905
+ "fovy_perturbation_size": 4.0
1906
+ },
1907
+ "frontview_random_03": {
1908
+ "enabled": true,
1909
+ "randomize_position": true,
1910
+ "randomize_rotation": true,
1911
+ "randomize_fovy": true,
1912
+ "position_perturbation_size": 0.12,
1913
+ "rotation_perturbation_size": 0.18,
1914
+ "fovy_perturbation_size": 4.0
1915
+ }
1916
+ },
1917
+ "pair_seeds": {
1918
+ "0": 540440077,
1919
+ "1": 1320447560,
1920
+ "2": 1796816888,
1921
+ "3": 3775061132
1922
+ },
1923
+ "samples": {
1924
+ "frontview_random_00": {
1925
+ "mode": "legacy_robosuite_camera_modder",
1926
+ "camera_seed": 1586280782,
1927
+ "capture_seed_contract": "stable_seed(camera_seed,randomized_pair,replica_id)_then_logical_name",
1928
+ "pair_seed": 540440077,
1929
+ "logical_camera_name": "frontview",
1930
+ "camera_group": "randomized",
1931
+ "camera_replica_id": 0
1932
+ },
1933
+ "frontview_random_01": {
1934
+ "mode": "legacy_robosuite_camera_modder",
1935
+ "camera_seed": 969611813,
1936
+ "capture_seed_contract": "stable_seed(camera_seed,randomized_pair,replica_id)_then_logical_name",
1937
+ "pair_seed": 1320447560,
1938
+ "logical_camera_name": "frontview",
1939
+ "camera_group": "randomized",
1940
+ "camera_replica_id": 1
1941
+ },
1942
+ "frontview_random_02": {
1943
+ "mode": "legacy_robosuite_camera_modder",
1944
+ "camera_seed": 2134499648,
1945
+ "capture_seed_contract": "stable_seed(camera_seed,randomized_pair,replica_id)_then_logical_name",
1946
+ "pair_seed": 1796816888,
1947
+ "logical_camera_name": "frontview",
1948
+ "camera_group": "randomized",
1949
+ "camera_replica_id": 2
1950
+ },
1951
+ "frontview_random_03": {
1952
+ "mode": "legacy_robosuite_camera_modder",
1953
+ "camera_seed": 2632838470,
1954
+ "capture_seed_contract": "stable_seed(camera_seed,randomized_pair,replica_id)_then_logical_name",
1955
+ "pair_seed": 3775061132,
1956
+ "logical_camera_name": "frontview",
1957
+ "camera_group": "randomized",
1958
+ "camera_replica_id": 3
1959
+ }
1960
+ },
1961
+ "resolved": {
1962
+ "frontview": {
1963
+ "camera_id": 0,
1964
+ "camera_type": "robosuite_fixed",
1965
+ "mount_body_id": 0,
1966
+ "mount_body_name": "world",
1967
+ "pose_frame": "world",
1968
+ "camera_pos": [
1969
+ 1.1,
1970
+ 0.0,
1971
+ 1.33
1972
+ ],
1973
+ "camera_quat": [
1974
+ 0.6187452461952094,
1975
+ 0.342278132972046,
1976
+ 0.34227813297204607,
1977
+ 0.6187452461952095
1978
+ ],
1979
+ "camera_fovy": 58.0
1980
+ },
1981
+ "frontview_random_00": {
1982
+ "camera_id": 4,
1983
+ "camera_type": "robosuite_fixed",
1984
+ "mount_body_id": 0,
1985
+ "mount_body_name": "world",
1986
+ "pose_frame": "world",
1987
+ "camera_pos": [
1988
+ 1.1682331289859404,
1989
+ -0.07702673256939094,
1990
+ 1.363927125446793
1991
+ ],
1992
+ "camera_quat": [
1993
+ 0.6304065585136414,
1994
+ 0.3719797432422638,
1995
+ 0.35867005586624146,
1996
+ 0.5792878866195679
1997
+ ],
1998
+ "camera_fovy": 56.80945106052675
1999
+ },
2000
+ "frontview_random_01": {
2001
+ "camera_id": 5,
2002
+ "camera_type": "robosuite_fixed",
2003
+ "mount_body_id": 0,
2004
+ "mount_body_name": "world",
2005
+ "pose_frame": "world",
2006
+ "camera_pos": [
2007
+ 1.02823085128974,
2008
+ 0.10344808636080172,
2009
+ 1.3867749660296547
2010
+ ],
2011
+ "camera_quat": [
2012
+ 0.6111074686050415,
2013
+ 0.3024859130382538,
2014
+ 0.30771517753601074,
2015
+ 0.6635973453521729
2016
+ ],
2017
+ "camera_fovy": 54.68544798358187
2018
+ },
2019
+ "frontview_random_02": {
2020
+ "camera_id": 6,
2021
+ "camera_type": "robosuite_fixed",
2022
+ "mount_body_id": 0,
2023
+ "mount_body_name": "world",
2024
+ "pose_frame": "world",
2025
+ "camera_pos": [
2026
+ 1.0463570794866868,
2027
+ -0.07263162368635906,
2028
+ 1.3218327638840588
2029
+ ],
2030
+ "camera_quat": [
2031
+ 0.6407555341720581,
2032
+ 0.3517111837863922,
2033
+ 0.31227755546569824,
2034
+ 0.6068068146705627
2035
+ ],
2036
+ "camera_fovy": 54.67396279344305
2037
+ },
2038
+ "frontview_random_03": {
2039
+ "camera_id": 7,
2040
+ "camera_type": "robosuite_fixed",
2041
+ "mount_body_id": 0,
2042
+ "mount_body_name": "world",
2043
+ "pose_frame": "world",
2044
+ "camera_pos": [
2045
+ 1.0362570745513378,
2046
+ 0.021401040867166016,
2047
+ 1.3288477999922383
2048
+ ],
2049
+ "camera_quat": [
2050
+ 0.5787212252616882,
2051
+ 0.397012323141098,
2052
+ 0.3100370168685913,
2053
+ 0.6413578987121582
2054
+ ],
2055
+ "camera_fovy": 58.531664559862435
2056
+ }
2057
+ }
2058
+ },
2059
+ "lighting": {
2060
+ "modder_class": "robosuite.utils.mjmod.LightingModder",
2061
+ "profile_randomization_enabled": true,
2062
+ "randomization_applied": true,
2063
+ "fixed_profile": {
2064
+ "applied": false,
2065
+ "mode": "arena_default"
2066
+ },
2067
+ "light_names": [
2068
+ "robosuite_arena_arena_light_0"
2069
+ ],
2070
+ "randomize_active": false,
2071
+ "randomize_position": true,
2072
+ "randomize_direction": true,
2073
+ "randomize_rgb_color_channels": false,
2074
+ "randomize_neutral_intensity": true,
2075
+ "color_policy": "neutral_white_equal_rgb_channels",
2076
+ "resolved": {
2077
+ "robosuite_arena_arena_light_0": {
2078
+ "light_id": 0,
2079
+ "light_pos": [
2080
+ 1.0732057976509142,
2081
+ 1.0022606741850186,
2082
+ 1.5412753609736671
2083
+ ],
2084
+ "light_dir": [
2085
+ -0.1698290966565047,
2086
+ -0.2027843126742601,
2087
+ -0.9643840530248248
2088
+ ],
2089
+ "ambient": [
2090
+ 0.00479912618175149,
2091
+ 0.00479912618175149,
2092
+ 0.00479912618175149
2093
+ ],
2094
+ "diffuse": [
2095
+ 0.6328516602516174,
2096
+ 0.6328516602516174,
2097
+ 0.6328516602516174
2098
+ ],
2099
+ "specular": [
2100
+ 0.23384378850460052,
2101
+ 0.23384378850460052,
2102
+ 0.23384378850460052
2103
+ ],
2104
+ "active": 1
2105
+ }
2106
+ }
2107
+ },
2108
+ "embodiment": {
2109
+ "schema": "axis_embodiment_randomization_v1",
2110
+ "enabled": true,
2111
+ "source_embodiment": "franka",
2112
+ "target_embodiment": "sawyer",
2113
+ "candidate_embodiments": [
2114
+ "sawyer"
2115
+ ],
2116
+ "selection_seed": 537631202,
2117
+ "selected_index": 0,
2118
+ "policy": "stable_uniform_choice_per_task_attempt_variant",
2119
+ "applied": true,
2120
+ "trajectory_method": "tcp_space_full_se3_mink_ik",
2121
+ "minimum_reach_pct": 60.0,
2122
+ "retarget": {
2123
+ "schema": "axis_embodiment_randomization_v1",
2124
+ "retarget_schema": "axis_tcp_retargeted_packed_state_v1",
2125
+ "source_entry_xml": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/cache/sawyer/tasks/task_837_attempt_690597/source_assets/scenes/scene.xml",
2126
+ "target_entry_xml": "/data2/shmqd/AXIS-Render-Robosuite/multi_embodiment_50k_20260813/formal/cache/sawyer/tasks/task_837_attempt_690597/assets/scene.xml",
2127
+ "target_embodiment": "sawyer",
2128
+ "ik": {
2129
+ "method": "tcp_space_full_se3_mink_ik",
2130
+ "target_embodiment": "sawyer",
2131
+ "source_embodiment": "franka",
2132
+ "n_frames": 122,
2133
+ "arm_joint_names": [
2134
+ "right_j0",
2135
+ "right_j1",
2136
+ "right_j2",
2137
+ "right_j3",
2138
+ "right_j4",
2139
+ "right_j5",
2140
+ "right_j6"
2141
+ ],
2142
+ "finger_bodies": [
2143
+ "rightpad",
2144
+ "leftpad"
2145
+ ],
2146
+ "ee_body": "right_hand",
2147
+ "base_pos": [
2148
+ 0.0,
2149
+ 0.0,
2150
+ -5.96700000521e-09
2151
+ ],
2152
+ "base_quat_wxyz": [
2153
+ 1.0,
2154
+ 0.0,
2155
+ 0.0,
2156
+ 0.0
2157
+ ],
2158
+ "gripper": {
2159
+ "type": "binary_flag",
2160
+ "convention": "1=closed(grasping),0=open",
2161
+ "close_frame": 105
2162
+ },
2163
+ "ik": {
2164
+ "mean_pos_err_mm": 0.5451042668518058,
2165
+ "reach_pct": 100.0,
2166
+ "mean_orientation_err_deg": 0.0259161512439462,
2167
+ "minimum_required_reach_pct": 60.0
2168
+ }
2169
+ },
2170
+ "scene_composition": {
2171
+ "source_robot_root_body": "franka\\",
2172
+ "source_robot_joint_names": [
2173
+ "franka\\panda_finger_joint1",
2174
+ "franka\\panda_finger_joint2",
2175
+ "franka\\panda_joint1",
2176
+ "franka\\panda_joint2",
2177
+ "franka\\panda_joint3",
2178
+ "franka\\panda_joint4",
2179
+ "franka\\panda_joint5",
2180
+ "franka\\panda_joint6",
2181
+ "franka\\panda_joint7"
2182
+ ],
2183
+ "removed_source_robot_named_element_count": 95,
2184
+ "removed_reference_elements": [
2185
+ {
2186
+ "section": "actuator",
2187
+ "tag": "general",
2188
+ "name": "franka\\panda_joint1"
2189
+ },
2190
+ {
2191
+ "section": "actuator",
2192
+ "tag": "general",
2193
+ "name": "franka\\panda_joint2"
2194
+ },
2195
+ {
2196
+ "section": "actuator",
2197
+ "tag": "general",
2198
+ "name": "franka\\panda_joint3"
2199
+ },
2200
+ {
2201
+ "section": "actuator",
2202
+ "tag": "general",
2203
+ "name": "franka\\panda_joint4"
2204
+ },
2205
+ {
2206
+ "section": "actuator",
2207
+ "tag": "general",
2208
+ "name": "franka\\panda_joint5"
2209
+ },
2210
+ {
2211
+ "section": "actuator",
2212
+ "tag": "general",
2213
+ "name": "franka\\panda_joint6"
2214
+ },
2215
+ {
2216
+ "section": "actuator",
2217
+ "tag": "general",
2218
+ "name": "franka\\panda_joint7"
2219
+ },
2220
+ {
2221
+ "section": "actuator",
2222
+ "tag": "position",
2223
+ "name": "franka\\panda_finger_joint1"
2224
+ },
2225
+ {
2226
+ "section": "actuator",
2227
+ "tag": "position",
2228
+ "name": "franka\\panda_finger_joint2"
2229
+ },
2230
+ {
2231
+ "section": "tendon",
2232
+ "tag": "fixed",
2233
+ "name": "franka\\split"
2234
+ },
2235
+ {
2236
+ "section": "contact",
2237
+ "tag": "exclude",
2238
+ "name": "//unnamed_contact_0"
2239
+ },
2240
+ {
2241
+ "section": "contact",
2242
+ "tag": "exclude",
2243
+ "name": "//unnamed_contact_1"
2244
+ },
2245
+ {
2246
+ "section": "contact",
2247
+ "tag": "exclude",
2248
+ "name": "//unnamed_contact_2"
2249
+ },
2250
+ {
2251
+ "section": "contact",
2252
+ "tag": "exclude",
2253
+ "name": "//unnamed_contact_3"
2254
+ },
2255
+ {
2256
+ "section": "contact",
2257
+ "tag": "exclude",
2258
+ "name": "//unnamed_contact_4"
2259
+ },
2260
+ {
2261
+ "section": "contact",
2262
+ "tag": "exclude",
2263
+ "name": "//unnamed_contact_5"
2264
+ },
2265
+ {
2266
+ "section": "contact",
2267
+ "tag": "exclude",
2268
+ "name": "//unnamed_contact_6"
2269
+ },
2270
+ {
2271
+ "section": "contact",
2272
+ "tag": "exclude",
2273
+ "name": "//unnamed_contact_7"
2274
+ },
2275
+ {
2276
+ "section": "contact",
2277
+ "tag": "exclude",
2278
+ "name": "//unnamed_contact_8"
2279
+ },
2280
+ {
2281
+ "section": "contact",
2282
+ "tag": "exclude",
2283
+ "name": "//unnamed_contact_9"
2284
+ }
2285
+ ],
2286
+ "removed_keyframe_count": 0,
2287
+ "renderer_mujoco_compatibility": {
2288
+ "target_version": "3.1.1",
2289
+ "removed_attributes": [
2290
+ "inheritrange",
2291
+ "dampratio",
2292
+ "mesh.inertia"
2293
+ ],
2294
+ "collision_geom_policy": "omit_sdf_and_fully_transparent_group_0_mesh_geoms",
2295
+ "compiler_policy": "all_geom_groups_eligible_for_inferred_body_inertia"
2296
+ }
2297
+ },
2298
+ "state_mapping": {
2299
+ "copied_source_joint_count": 4,
2300
+ "copied_source_joint_names": [
2301
+ "spray_bottle_3_free",
2302
+ "detergent_2_free",
2303
+ "cleaning_brush_3_free",
2304
+ "sponge_1_free"
2305
+ ],
2306
+ "removed_franka_joint_names": [
2307
+ "franka/panda_joint1",
2308
+ "franka/panda_joint2",
2309
+ "franka/panda_joint3",
2310
+ "franka/panda_joint4",
2311
+ "franka/panda_joint5",
2312
+ "franka/panda_joint6",
2313
+ "franka/panda_joint7",
2314
+ "franka/panda_finger_joint1",
2315
+ "franka/panda_finger_joint2"
2316
+ ],
2317
+ "copied_source_actuator_names": [],
2318
+ "target_model": {
2319
+ "nq": 37,
2320
+ "nv": 33,
2321
+ "nu": 9,
2322
+ "arm_joint_names": [
2323
+ "sawyer/right_j0",
2324
+ "sawyer/right_j1",
2325
+ "sawyer/right_j2",
2326
+ "sawyer/right_j3",
2327
+ "sawyer/right_j4",
2328
+ "sawyer/right_j5",
2329
+ "sawyer/right_j6"
2330
+ ],
2331
+ "arm_actuator_names": [
2332
+ "sawyer/right_j0",
2333
+ "sawyer/right_j1",
2334
+ "sawyer/right_j2",
2335
+ "sawyer/right_j3",
2336
+ "sawyer/right_j4",
2337
+ "sawyer/right_j5",
2338
+ "sawyer/right_j6"
2339
+ ],
2340
+ "arm_qvel_method": "finite_difference_on_source_sample_times"
2341
+ },
2342
+ "gripper_decode": {
2343
+ "actuator_names": [
2344
+ "sawyer/r_close",
2345
+ "sawyer/l_close"
2346
+ ],
2347
+ "open_ctrl": [
2348
+ -1.0,
2349
+ -1.0
2350
+ ],
2351
+ "closed_ctrl": [
2352
+ 1.0,
2353
+ 1.0
2354
+ ],
2355
+ "open_finger_separation_m": 0.06400128576565177,
2356
+ "closed_finger_separation_m": 0.054004683791601095,
2357
+ "settle_steps_per_extreme": 1500
2358
+ }
2359
+ }
2360
+ }
2361
+ }
2362
+ },
2363
+ "lerobot_commit_bundle_path": null,
2364
+ "error_message": null,
2365
+ "traceback": null
2366
+ }
2367
+ ]
2368
+ }