Hugging Face's logo

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

Tasks:
Robotics
Tags:
robotics
License:
Dataset card Files
xet
Community
1
Abhim03 commited on
Commit
2610ed7
·
verified ·
1 Parent(s): cb464d7

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000006/ep_meta.json +652 -0
  2. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000042/ep_meta.json +744 -0
  3. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000088/ep_meta.json +740 -0
  4. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000112/ep_meta.json +734 -0
  5. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000124/ep_meta.json +651 -0
  6. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000204/ep_meta.json +813 -0
  7. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000222/ep_meta.json +741 -0
  8. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000248/ep_meta.json +743 -0
  9. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000289/ep_meta.json +651 -0
  10. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000301/ep_meta.json +737 -0
  11. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000314/ep_meta.json +651 -0
  12. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000324/ep_meta.json +740 -0
  13. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000331/ep_meta.json +741 -0
  14. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000333/ep_meta.json +651 -0
  15. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000335/ep_meta.json +684 -0
  16. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000344/ep_meta.json +737 -0
  17. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000379/ep_meta.json +741 -0
  18. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000391/ep_meta.json +742 -0
  19. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000401/ep_meta.json +734 -0
  20. target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000451/ep_meta.json +684 -0
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000006/ep_meta.json ADDED
@@ -0,0 +1,652 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.1399842052393057,
47
+ 1.6
48
+ ],
49
+ "offset": [
50
+ 0.6550078973803473,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.244743326685,
98
+ 0.24474403597500002,
99
+ 0.023217144615000004
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.4399842052305356,
131
+ 1.6
132
+ ],
133
+ "offset": [
134
+ 0.005007897384732285,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "eggplant",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "eggplant",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "island_island_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2599887809999999,
184
+ 0.2592267287999999,
185
+ 0.07434426739999996
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "receptacle",
203
+ "stackable",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.4399842052305356,
217
+ 1.6
218
+ ],
219
+ "offset": [
220
+ 0.005007897384732285,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_main_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "canned_food",
246
+ "packaged_food"
247
+ ],
248
+ "groups": [
249
+ "all"
250
+ ],
251
+ "cat": "canned_food",
252
+ "split": "test",
253
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_4/model.xml"
254
+ },
255
+ "reset_region": {
256
+ "offset": [
257
+ -0.0002632047656345171,
258
+ 0.10788939929975168,
259
+ 0.181412742979443
260
+ ],
261
+ "size": [
262
+ 0.7781439843759018,
263
+ 0.5543220166326962
264
+ ],
265
+ "name": "fridge_shelf0"
266
+ }
267
+ },
268
+ {
269
+ "name": "distr2",
270
+ "fridgable": true,
271
+ "placement": {
272
+ "fixture": "fridge_main_group",
273
+ "size": [
274
+ 0.3,
275
+ 0.3
276
+ ],
277
+ "pos": [
278
+ 0.3,
279
+ 1.0
280
+ ]
281
+ },
282
+ "type": "object",
283
+ "info": {
284
+ "groups_containing_sampled_obj": [
285
+ "all",
286
+ "apple",
287
+ "fruit",
288
+ "food",
289
+ "in_container",
290
+ "food_set1",
291
+ "group1"
292
+ ],
293
+ "groups": [
294
+ "all"
295
+ ],
296
+ "cat": "apple",
297
+ "split": "test",
298
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_6/model.xml"
299
+ },
300
+ "reset_region": {
301
+ "offset": [
302
+ 5.222870163282267e-05,
303
+ 0.10788939929975168,
304
+ 0.5507136994887958
305
+ ],
306
+ "size": [
307
+ 0.7775131174413674,
308
+ 0.5543220166326962
309
+ ],
310
+ "name": "fridge_shelf1"
311
+ }
312
+ }
313
+ ],
314
+ "fixtures": {
315
+ "wall_room": {
316
+ "cls": "Wall"
317
+ },
318
+ "wall_backing_room": {
319
+ "cls": "Wall"
320
+ },
321
+ "wall_left_room": {
322
+ "cls": "Wall"
323
+ },
324
+ "wall_left_backing_room": {
325
+ "cls": "Wall"
326
+ },
327
+ "outlet_room": {
328
+ "cls": "WallAccessory"
329
+ },
330
+ "outlet_2_room": {
331
+ "cls": "WallAccessory"
332
+ },
333
+ "light_switch_room": {
334
+ "cls": "WallAccessory"
335
+ },
336
+ "light_switch_2_room": {
337
+ "cls": "WallAccessory"
338
+ },
339
+ "window_group_room": {
340
+ "cls": "Window"
341
+ },
342
+ "floor_room": {
343
+ "cls": "Floor"
344
+ },
345
+ "floor_backing_room": {
346
+ "cls": "Floor"
347
+ },
348
+ "stool_1_room": {
349
+ "cls": "Stool"
350
+ },
351
+ "stool_2_room": {
352
+ "cls": "Stool"
353
+ },
354
+ "stool_3_room": {
355
+ "cls": "Stool"
356
+ },
357
+ "counter_corner_main_main_group": {
358
+ "cls": "Counter"
359
+ },
360
+ "counter_main_main_group": {
361
+ "cls": "Counter"
362
+ },
363
+ "stovetop_main_group": {
364
+ "cls": "Stovetop"
365
+ },
366
+ "counter_1_right_main_group": {
367
+ "cls": "Counter"
368
+ },
369
+ "fridge_main_group": {
370
+ "cls": "FridgeFrenchDoor"
371
+ },
372
+ "fridge_housing_main_group": {
373
+ "cls": "HousingCabinet"
374
+ },
375
+ "stack_1_main_group_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_1_main_group_1": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_1_main_group_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_1_main_group_3": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_1_main_group_4": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_2_main_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_2_main_group_1": {
394
+ "cls": "HingeCabinet"
395
+ },
396
+ "stack_2_main_group_2": {
397
+ "cls": "PanelCabinet"
398
+ },
399
+ "stack_3_main_group_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_3_main_group_1": {
403
+ "cls": "HingeCabinet"
404
+ },
405
+ "stack_3_main_group_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_3_main_group_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "hood_main_group": {
412
+ "cls": "Hood"
413
+ },
414
+ "cab_main_main_group": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "shelves_main_group": {
418
+ "cls": "OpenCabinet"
419
+ },
420
+ "fridge_cab_main_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "paper_towel_main_group": {
424
+ "cls": "Accessory"
425
+ },
426
+ "knife_block_main_group": {
427
+ "cls": "Accessory"
428
+ },
429
+ "toaster_main_group": {
430
+ "cls": "Toaster"
431
+ },
432
+ "utensil_set_main_group": {
433
+ "cls": "Accessory"
434
+ },
435
+ "toaster_oven_main_group": {
436
+ "cls": "ToasterOven"
437
+ },
438
+ "jar_main_group": {
439
+ "cls": "Accessory"
440
+ },
441
+ "jar_2_main_group": {
442
+ "cls": "Accessory"
443
+ },
444
+ "glass_cup_main_group": {
445
+ "cls": "Accessory"
446
+ },
447
+ "glass_cup_2_main_group": {
448
+ "cls": "Accessory"
449
+ },
450
+ "jar_main_group_auxiliary_main_group": {
451
+ "cls": "Accessory"
452
+ },
453
+ "jar_2_main_group_auxiliary_main_group": {
454
+ "cls": "Accessory"
455
+ },
456
+ "cab_1_left_group": {
457
+ "cls": "SingleCabinet"
458
+ },
459
+ "cab_2_left_group": {
460
+ "cls": "SingleCabinet"
461
+ },
462
+ "cab_corner_3_left_group": {
463
+ "cls": "Box"
464
+ },
465
+ "cab_corner_4_left_group": {
466
+ "cls": "Box"
467
+ },
468
+ "sink_left_group": {
469
+ "cls": "Sink"
470
+ },
471
+ "counter_1_left_left_group": {
472
+ "cls": "Counter"
473
+ },
474
+ "counter_corner_left_group": {
475
+ "cls": "Counter"
476
+ },
477
+ "bottom_left_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "bottom_left_group_1": {
481
+ "cls": "Drawer"
482
+ },
483
+ "bottom_left_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "oven_left_group": {
487
+ "cls": "Oven"
488
+ },
489
+ "oven_housing_left_group": {
490
+ "cls": "HousingCabinet"
491
+ },
492
+ "microwave_left_group": {
493
+ "cls": "Microwave"
494
+ },
495
+ "micro_housing_left_group": {
496
+ "cls": "HousingCabinet"
497
+ },
498
+ "top_left_group": {
499
+ "cls": "HingeCabinet"
500
+ },
501
+ "stack_1_left_group": {
502
+ "cls": "SingleCabinet"
503
+ },
504
+ "dishwasher_left_group": {
505
+ "cls": "Dishwasher"
506
+ },
507
+ "stack_2_left_group_base": {
508
+ "cls": "Box"
509
+ },
510
+ "stack_2_left_group_1": {
511
+ "cls": "HingeCabinet"
512
+ },
513
+ "stack_2_left_group_2": {
514
+ "cls": "PanelCabinet"
515
+ },
516
+ "stack_3_left_group_base": {
517
+ "cls": "Box"
518
+ },
519
+ "stack_3_left_group_1": {
520
+ "cls": "HingeCabinet"
521
+ },
522
+ "stack_3_left_group_2": {
523
+ "cls": "Drawer"
524
+ },
525
+ "stack_3_left_group_3": {
526
+ "cls": "Drawer"
527
+ },
528
+ "coffee_machine_left_group": {
529
+ "cls": "CoffeeMachine"
530
+ },
531
+ "soap_dispenser_left_group": {
532
+ "cls": "Accessory"
533
+ },
534
+ "tiered_basket_left_group": {
535
+ "cls": "Accessory"
536
+ },
537
+ "island_island_group": {
538
+ "cls": "Counter"
539
+ },
540
+ "plant_island_group": {
541
+ "cls": "Accessory"
542
+ },
543
+ "fruit_bowl_island_group": {
544
+ "cls": "Accessory"
545
+ },
546
+ "salt_shaker_island_group": {
547
+ "cls": "Accessory"
548
+ },
549
+ "salt_shaker_island_group_auxiliary_island_group": {
550
+ "cls": "Accessory"
551
+ }
552
+ },
553
+ "gen_textures": {},
554
+ "lang": "Pick the chicken drumstick and eggplant from their plates and place them in the bowl. Then put the bowl in the fridge.",
555
+ "fixture_refs": {
556
+ "stool1": "stool_1_room",
557
+ "stool2": "stool_2_room",
558
+ "dining_counter": "island_island_group",
559
+ "fridge": "fridge_main_group"
560
+ },
561
+ "cam_configs": {
562
+ "robot0_agentview_center": {
563
+ "pos": [
564
+ -0.6,
565
+ 0.0,
566
+ 1.15
567
+ ],
568
+ "quat": [
569
+ 0.636945903301239,
570
+ 0.3325185477733612,
571
+ -0.3199238181114197,
572
+ -0.6175596117973328
573
+ ],
574
+ "parent_body": "mobilebase0_support"
575
+ },
576
+ "robot0_agentview_left": {
577
+ "pos": [
578
+ -0.5,
579
+ 0.35,
580
+ 1.05
581
+ ],
582
+ "quat": [
583
+ 0.55623853,
584
+ 0.29935253,
585
+ -0.37678665,
586
+ -0.6775092
587
+ ],
588
+ "camera_attribs": {
589
+ "fovy": "60"
590
+ },
591
+ "parent_body": "mobilebase0_support"
592
+ },
593
+ "robot0_agentview_right": {
594
+ "pos": [
595
+ -0.5,
596
+ -0.35,
597
+ 1.05
598
+ ],
599
+ "quat": [
600
+ 0.6775091886520386,
601
+ 0.3767866790294647,
602
+ -0.2993525564670563,
603
+ -0.55623859167099
604
+ ],
605
+ "camera_attribs": {
606
+ "fovy": "60"
607
+ },
608
+ "parent_body": "mobilebase0_support"
609
+ },
610
+ "robot0_frontview": {
611
+ "pos": [
612
+ -0.5,
613
+ 0,
614
+ 0.95
615
+ ],
616
+ "quat": [
617
+ 0.6088936924934387,
618
+ 0.3814677894115448,
619
+ -0.3673907518386841,
620
+ -0.5905545353889465
621
+ ],
622
+ "camera_attribs": {
623
+ "fovy": "60"
624
+ },
625
+ "parent_body": "mobilebase0_support"
626
+ },
627
+ "robot0_eye_in_hand": {
628
+ "pos": [
629
+ 0.05,
630
+ 0,
631
+ 0
632
+ ],
633
+ "quat": [
634
+ 0,
635
+ 0.707107,
636
+ 0.707107,
637
+ 0
638
+ ],
639
+ "parent_body": "robot0_right_hand"
640
+ }
641
+ },
642
+ "init_robot_base_pos": [
643
+ 4.02243424314497,
644
+ -3.2392440294354463,
645
+ 0.0
646
+ ],
647
+ "init_robot_base_ori": [
648
+ 0.0,
649
+ 0.0,
650
+ 3.1415889803846895
651
+ ]
652
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000042/ep_meta.json ADDED
@@ -0,0 +1,744 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24568749157499997,
14
+ 0.24474791709000002,
15
+ 0.03850276869
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "potato",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1",
165
+ "oven_ready"
166
+ ],
167
+ "groups": [
168
+ "vegetable"
169
+ ],
170
+ "cat": "potato",
171
+ "split": "test",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
173
+ }
174
+ },
175
+ {
176
+ "name": "bowl",
177
+ "obj_groups": "bowl",
178
+ "graspable": true,
179
+ "placement": {
180
+ "fixture": "counter_1_dining_area_group",
181
+ "sample_region_kwargs": {
182
+ "ref": "stool_2_room",
183
+ "min_size": [
184
+ 0.2599940797999999,
185
+ 0.2599929331999999,
186
+ 0.08604590539999997
187
+ ]
188
+ },
189
+ "size": [
190
+ 1.0,
191
+ 0.4
192
+ ],
193
+ "pos": [
194
+ "ref",
195
+ "ref"
196
+ ]
197
+ },
198
+ "type": "object",
199
+ "info": {
200
+ "groups_containing_sampled_obj": [
201
+ "all",
202
+ "bowl",
203
+ "receptacle",
204
+ "stackable",
205
+ "group1",
206
+ "container_set2"
207
+ ],
208
+ "groups": [
209
+ "bowl"
210
+ ],
211
+ "cat": "bowl",
212
+ "split": "test",
213
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
214
+ },
215
+ "reset_region": {
216
+ "size": [
217
+ 2.249796168970498,
218
+ 1.0
219
+ ],
220
+ "offset": [
221
+ -0.00010191551475102756,
222
+ 0.0,
223
+ 0.46
224
+ ],
225
+ "name": "geom_0"
226
+ }
227
+ },
228
+ {
229
+ "name": "distr1",
230
+ "fridgable": true,
231
+ "placement": {
232
+ "fixture": "fridge_left_group",
233
+ "size": [
234
+ 0.3,
235
+ 0.3
236
+ ],
237
+ "pos": [
238
+ -0.3,
239
+ 1.0
240
+ ]
241
+ },
242
+ "type": "object",
243
+ "info": {
244
+ "groups_containing_sampled_obj": [
245
+ "all",
246
+ "onion",
247
+ "vegetable",
248
+ "food",
249
+ "in_container"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "onion",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ 0.0014527782289688873,
261
+ 0.06958483932993503,
262
+ 0.5474662028803855
263
+ ],
264
+ "size": [
265
+ 0.6856360152799493,
266
+ 0.5182223041537808
267
+ ],
268
+ "name": "fridge_shelf1"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_left_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "cucumber",
290
+ "vegetable",
291
+ "food",
292
+ "in_container",
293
+ "food_set1"
294
+ ],
295
+ "groups": [
296
+ "all"
297
+ ],
298
+ "cat": "cucumber",
299
+ "split": "test",
300
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
301
+ },
302
+ "reset_region": {
303
+ "offset": [
304
+ 0.0014527782289688873,
305
+ 0.06981058591882013,
306
+ 0.1844737151775919
307
+ ],
308
+ "size": [
309
+ 0.6856360152799493,
310
+ 0.5172543487964222
311
+ ],
312
+ "name": "fridge_shelf0"
313
+ }
314
+ }
315
+ ],
316
+ "fixtures": {
317
+ "wall_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_backing_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_front_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_front_backing_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_left_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_left_backing_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "wall_left_2_room": {
336
+ "cls": "Wall"
337
+ },
338
+ "wall_2_left_backing_room": {
339
+ "cls": "Wall"
340
+ },
341
+ "wall_right_room": {
342
+ "cls": "Wall"
343
+ },
344
+ "wall_right_backing_room": {
345
+ "cls": "Wall"
346
+ },
347
+ "utensil_rack_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "outlet_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "outlet_2_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "outlet_3_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "light_switch_room": {
360
+ "cls": "WallAccessory"
361
+ },
362
+ "light_switch_2_room": {
363
+ "cls": "WallAccessory"
364
+ },
365
+ "window_group_room": {
366
+ "cls": "Window"
367
+ },
368
+ "floor_room": {
369
+ "cls": "Floor"
370
+ },
371
+ "floor_backing_room": {
372
+ "cls": "Floor"
373
+ },
374
+ "floor_front_room": {
375
+ "cls": "Floor"
376
+ },
377
+ "floor_front_backing_room": {
378
+ "cls": "Floor"
379
+ },
380
+ "stool_1_room": {
381
+ "cls": "Stool"
382
+ },
383
+ "stool_2_room": {
384
+ "cls": "Stool"
385
+ },
386
+ "stool_3_room": {
387
+ "cls": "Stool"
388
+ },
389
+ "counter_corner_1_main_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "counter_main_main_group": {
393
+ "cls": "Counter"
394
+ },
395
+ "stove_main_group": {
396
+ "cls": "Stove"
397
+ },
398
+ "counter_1_main_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "counter_corner_2_main_group": {
402
+ "cls": "Counter"
403
+ },
404
+ "cab_corner_main_group": {
405
+ "cls": "Box"
406
+ },
407
+ "cab_main_main_group": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "cab_1_main_group": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "hood_main_group": {
414
+ "cls": "Hood"
415
+ },
416
+ "shelves_main_group": {
417
+ "cls": "OpenCabinet"
418
+ },
419
+ "cab_corner_3_main_group": {
420
+ "cls": "Box"
421
+ },
422
+ "cab_corner_4_main_group": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_main_group_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_1_main_group_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "stack_1_main_group_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_1_main_group_3": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_2_main_group_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_2_main_group_1": {
441
+ "cls": "HingeCabinet"
442
+ },
443
+ "stack_2_main_group_2": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_2_main_group_3": {
447
+ "cls": "Drawer"
448
+ },
449
+ "right_corner_box_main_group": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_3_main_group_base": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_3_main_group_1": {
456
+ "cls": "HingeCabinet"
457
+ },
458
+ "stack_3_main_group_2": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_3_main_group_3": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_4_main_group_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_4_main_group_1": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_4_main_group_2": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_4_main_group_3": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_4_main_group_4": {
477
+ "cls": "Drawer"
478
+ },
479
+ "coffee_machine_main_group": {
480
+ "cls": "CoffeeMachine"
481
+ },
482
+ "knife_block_main_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "plant_main_group": {
486
+ "cls": "Accessory"
487
+ },
488
+ "toaster_main_group": {
489
+ "cls": "Toaster"
490
+ },
491
+ "toaster_oven_main_group": {
492
+ "cls": "ToasterOven"
493
+ },
494
+ "tiered_basket_main_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "jar_main_group": {
498
+ "cls": "Accessory"
499
+ },
500
+ "paprika_main_group": {
501
+ "cls": "Accessory"
502
+ },
503
+ "cinnamon_main_group": {
504
+ "cls": "Accessory"
505
+ },
506
+ "turmeric_main_group": {
507
+ "cls": "Accessory"
508
+ },
509
+ "salt_shaker_main_group": {
510
+ "cls": "Accessory"
511
+ },
512
+ "jar_main_group_auxiliary_main_group": {
513
+ "cls": "Accessory"
514
+ },
515
+ "salt_shaker_main_group_auxiliary_main_group": {
516
+ "cls": "Accessory"
517
+ },
518
+ "fridge_left_group": {
519
+ "cls": "FridgeFrenchDoor"
520
+ },
521
+ "fridge_housing_left_group": {
522
+ "cls": "HousingCabinet"
523
+ },
524
+ "fridge_top_left_group": {
525
+ "cls": "HingeCabinet"
526
+ },
527
+ "stack_left_left_group_base": {
528
+ "cls": "Box"
529
+ },
530
+ "stack_left_left_group_1": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_left_left_group_2": {
534
+ "cls": "SingleCabinet"
535
+ },
536
+ "stack_right_left_group_base": {
537
+ "cls": "Box"
538
+ },
539
+ "stack_right_left_group_1": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "stack_right_left_group_2": {
543
+ "cls": "SingleCabinet"
544
+ },
545
+ "box_left_top_left_group": {
546
+ "cls": "Box"
547
+ },
548
+ "box_left_bottom_left_group": {
549
+ "cls": "Box"
550
+ },
551
+ "box_right_top_left_group": {
552
+ "cls": "Box"
553
+ },
554
+ "box_right_bottom_left_group": {
555
+ "cls": "Box"
556
+ },
557
+ "sink_right_group": {
558
+ "cls": "Sink"
559
+ },
560
+ "counter_1_right_group": {
561
+ "cls": "Counter"
562
+ },
563
+ "counter_corner_right_group": {
564
+ "cls": "Counter"
565
+ },
566
+ "stack_1_right_group_base": {
567
+ "cls": "Box"
568
+ },
569
+ "stack_1_right_group_1": {
570
+ "cls": "HingeCabinet"
571
+ },
572
+ "stack_1_right_group_2": {
573
+ "cls": "PanelCabinet"
574
+ },
575
+ "dishwasher_right_group": {
576
+ "cls": "Dishwasher"
577
+ },
578
+ "stack_2_right_group_base": {
579
+ "cls": "Box"
580
+ },
581
+ "stack_2_right_group_1": {
582
+ "cls": "SingleCabinet"
583
+ },
584
+ "cab_1_right_group": {
585
+ "cls": "HingeCabinet"
586
+ },
587
+ "cab_2_right_group": {
588
+ "cls": "SingleCabinet"
589
+ },
590
+ "soap_dispenser_right_group": {
591
+ "cls": "Accessory"
592
+ },
593
+ "counter_corner_1_front_group": {
594
+ "cls": "Counter"
595
+ },
596
+ "counter_1_front_group": {
597
+ "cls": "Counter"
598
+ },
599
+ "stack_1_front_group_base": {
600
+ "cls": "Box"
601
+ },
602
+ "stack_1_front_group_1": {
603
+ "cls": "HingeCabinet"
604
+ },
605
+ "stack_1_front_group_2": {
606
+ "cls": "Drawer"
607
+ },
608
+ "shelves_front_group": {
609
+ "cls": "OpenCabinet"
610
+ },
611
+ "bottom_front_group_base": {
612
+ "cls": "Box"
613
+ },
614
+ "bottom_front_group_1": {
615
+ "cls": "Drawer"
616
+ },
617
+ "bottom_front_group_2": {
618
+ "cls": "Drawer"
619
+ },
620
+ "cab_middle_front_group": {
621
+ "cls": "HingeCabinet"
622
+ },
623
+ "microwave_front_group": {
624
+ "cls": "Microwave"
625
+ },
626
+ "micro_housing_front_group": {
627
+ "cls": "HousingCabinet"
628
+ },
629
+ "top_front_group": {
630
+ "cls": "HingeCabinet"
631
+ },
632
+ "utensil_set_front_group": {
633
+ "cls": "Accessory"
634
+ },
635
+ "counter_1_dining_area_group": {
636
+ "cls": "Counter"
637
+ },
638
+ "paper_towel_dining_area_group": {
639
+ "cls": "Accessory"
640
+ },
641
+ "fruit_bowl_dining_area_group": {
642
+ "cls": "Accessory"
643
+ }
644
+ },
645
+ "gen_textures": {},
646
+ "lang": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
647
+ "fixture_refs": {
648
+ "stool1": "stool_1_room",
649
+ "stool2": "stool_2_room",
650
+ "dining_counter": "counter_1_dining_area_group",
651
+ "fridge": "fridge_left_group"
652
+ },
653
+ "cam_configs": {
654
+ "robot0_agentview_center": {
655
+ "pos": [
656
+ -0.6,
657
+ 0.0,
658
+ 1.15
659
+ ],
660
+ "quat": [
661
+ 0.636945903301239,
662
+ 0.3325185477733612,
663
+ -0.3199238181114197,
664
+ -0.6175596117973328
665
+ ],
666
+ "parent_body": "mobilebase0_support"
667
+ },
668
+ "robot0_agentview_left": {
669
+ "pos": [
670
+ -0.5,
671
+ 0.35,
672
+ 1.05
673
+ ],
674
+ "quat": [
675
+ 0.55623853,
676
+ 0.29935253,
677
+ -0.37678665,
678
+ -0.6775092
679
+ ],
680
+ "camera_attribs": {
681
+ "fovy": "60"
682
+ },
683
+ "parent_body": "mobilebase0_support"
684
+ },
685
+ "robot0_agentview_right": {
686
+ "pos": [
687
+ -0.5,
688
+ -0.35,
689
+ 1.05
690
+ ],
691
+ "quat": [
692
+ 0.6775091886520386,
693
+ 0.3767866790294647,
694
+ -0.2993525564670563,
695
+ -0.55623859167099
696
+ ],
697
+ "camera_attribs": {
698
+ "fovy": "60"
699
+ },
700
+ "parent_body": "mobilebase0_support"
701
+ },
702
+ "robot0_frontview": {
703
+ "pos": [
704
+ -0.5,
705
+ 0,
706
+ 0.95
707
+ ],
708
+ "quat": [
709
+ 0.6088936924934387,
710
+ 0.3814677894115448,
711
+ -0.3673907518386841,
712
+ -0.5905545353889465
713
+ ],
714
+ "camera_attribs": {
715
+ "fovy": "60"
716
+ },
717
+ "parent_body": "mobilebase0_support"
718
+ },
719
+ "robot0_eye_in_hand": {
720
+ "pos": [
721
+ 0.05,
722
+ 0,
723
+ 0
724
+ ],
725
+ "quat": [
726
+ 0,
727
+ 0.707107,
728
+ 0.707107,
729
+ 0
730
+ ],
731
+ "parent_body": "robot0_right_hand"
732
+ }
733
+ },
734
+ "init_robot_base_pos": [
735
+ 4.7177987757629944,
736
+ -4.028393854284044,
737
+ 0.0
738
+ ],
739
+ "init_robot_base_ori": [
740
+ 0.0,
741
+ 0.0,
742
+ 7.85388898038469
743
+ ]
744
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000088/ep_meta.json ADDED
@@ -0,0 +1,740 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24568749157499997,
98
+ 0.24474791709000002,
99
+ 0.03850276869
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "cucumber",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "cucumber",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_dining_area_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2399963735999999,
184
+ 0.23998859999999989,
185
+ 0.09870963839999995
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "stackable",
203
+ "receptacle",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.249796168970498,
217
+ 1.0
218
+ ],
219
+ "offset": [
220
+ -0.00010191551475102756,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "pancake",
246
+ "sweets",
247
+ "food",
248
+ "in_container"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "pancake",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes005/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.0014527782289688873,
260
+ 0.06958483932993503,
261
+ 0.5474662028803855
262
+ ],
263
+ "size": [
264
+ 0.6856360152799493,
265
+ 0.5182223041537808
266
+ ],
267
+ "name": "fridge_shelf1"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "boxed_food",
289
+ "packaged_food"
290
+ ],
291
+ "groups": [
292
+ "all"
293
+ ],
294
+ "cat": "boxed_food",
295
+ "split": "test",
296
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_4/model.xml"
297
+ },
298
+ "reset_region": {
299
+ "offset": [
300
+ 0.0014527782289688873,
301
+ 0.06958483932993503,
302
+ 0.5474662028803855
303
+ ],
304
+ "size": [
305
+ 0.6856360152799493,
306
+ 0.5182223041537808
307
+ ],
308
+ "name": "fridge_shelf1"
309
+ }
310
+ }
311
+ ],
312
+ "fixtures": {
313
+ "wall_room": {
314
+ "cls": "Wall"
315
+ },
316
+ "wall_backing_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_front_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_front_backing_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_left_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_left_backing_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "wall_left_2_room": {
332
+ "cls": "Wall"
333
+ },
334
+ "wall_2_left_backing_room": {
335
+ "cls": "Wall"
336
+ },
337
+ "wall_right_room": {
338
+ "cls": "Wall"
339
+ },
340
+ "wall_right_backing_room": {
341
+ "cls": "Wall"
342
+ },
343
+ "utensil_rack_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "outlet_2_room": {
350
+ "cls": "WallAccessory"
351
+ },
352
+ "outlet_3_room": {
353
+ "cls": "WallAccessory"
354
+ },
355
+ "light_switch_room": {
356
+ "cls": "WallAccessory"
357
+ },
358
+ "light_switch_2_room": {
359
+ "cls": "WallAccessory"
360
+ },
361
+ "window_group_room": {
362
+ "cls": "Window"
363
+ },
364
+ "floor_room": {
365
+ "cls": "Floor"
366
+ },
367
+ "floor_backing_room": {
368
+ "cls": "Floor"
369
+ },
370
+ "floor_front_room": {
371
+ "cls": "Floor"
372
+ },
373
+ "floor_front_backing_room": {
374
+ "cls": "Floor"
375
+ },
376
+ "stool_1_room": {
377
+ "cls": "Stool"
378
+ },
379
+ "stool_2_room": {
380
+ "cls": "Stool"
381
+ },
382
+ "stool_3_room": {
383
+ "cls": "Stool"
384
+ },
385
+ "counter_corner_1_main_group": {
386
+ "cls": "Counter"
387
+ },
388
+ "counter_main_main_group": {
389
+ "cls": "Counter"
390
+ },
391
+ "stove_main_group": {
392
+ "cls": "Stove"
393
+ },
394
+ "counter_1_main_group": {
395
+ "cls": "Counter"
396
+ },
397
+ "counter_corner_2_main_group": {
398
+ "cls": "Counter"
399
+ },
400
+ "cab_corner_main_group": {
401
+ "cls": "Box"
402
+ },
403
+ "cab_main_main_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_1_main_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "hood_main_group": {
410
+ "cls": "Hood"
411
+ },
412
+ "shelves_main_group": {
413
+ "cls": "OpenCabinet"
414
+ },
415
+ "cab_corner_3_main_group": {
416
+ "cls": "Box"
417
+ },
418
+ "cab_corner_4_main_group": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_1_main_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_main_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_1_main_group_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_1_main_group_3": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_2_main_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_2_main_group_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_2_main_group_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_2_main_group_3": {
443
+ "cls": "Drawer"
444
+ },
445
+ "right_corner_box_main_group": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_main_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_main_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_3_main_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_3_main_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_4_main_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_4_main_group_1": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_4_main_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_4_main_group_3": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_4_main_group_4": {
473
+ "cls": "Drawer"
474
+ },
475
+ "coffee_machine_main_group": {
476
+ "cls": "CoffeeMachine"
477
+ },
478
+ "knife_block_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "plant_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "toaster_main_group": {
485
+ "cls": "Toaster"
486
+ },
487
+ "toaster_oven_main_group": {
488
+ "cls": "ToasterOven"
489
+ },
490
+ "tiered_basket_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "jar_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "paprika_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "cinnamon_main_group": {
500
+ "cls": "Accessory"
501
+ },
502
+ "turmeric_main_group": {
503
+ "cls": "Accessory"
504
+ },
505
+ "salt_shaker_main_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "jar_main_group_auxiliary_main_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "salt_shaker_main_group_auxiliary_main_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "fridge_left_group": {
515
+ "cls": "FridgeFrenchDoor"
516
+ },
517
+ "fridge_housing_left_group": {
518
+ "cls": "HousingCabinet"
519
+ },
520
+ "fridge_top_left_group": {
521
+ "cls": "HingeCabinet"
522
+ },
523
+ "stack_left_left_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_left_left_group_1": {
527
+ "cls": "SingleCabinet"
528
+ },
529
+ "stack_left_left_group_2": {
530
+ "cls": "SingleCabinet"
531
+ },
532
+ "stack_right_left_group_base": {
533
+ "cls": "Box"
534
+ },
535
+ "stack_right_left_group_1": {
536
+ "cls": "SingleCabinet"
537
+ },
538
+ "stack_right_left_group_2": {
539
+ "cls": "SingleCabinet"
540
+ },
541
+ "box_left_top_left_group": {
542
+ "cls": "Box"
543
+ },
544
+ "box_left_bottom_left_group": {
545
+ "cls": "Box"
546
+ },
547
+ "box_right_top_left_group": {
548
+ "cls": "Box"
549
+ },
550
+ "box_right_bottom_left_group": {
551
+ "cls": "Box"
552
+ },
553
+ "sink_right_group": {
554
+ "cls": "Sink"
555
+ },
556
+ "counter_1_right_group": {
557
+ "cls": "Counter"
558
+ },
559
+ "counter_corner_right_group": {
560
+ "cls": "Counter"
561
+ },
562
+ "stack_1_right_group_base": {
563
+ "cls": "Box"
564
+ },
565
+ "stack_1_right_group_1": {
566
+ "cls": "HingeCabinet"
567
+ },
568
+ "stack_1_right_group_2": {
569
+ "cls": "PanelCabinet"
570
+ },
571
+ "dishwasher_right_group": {
572
+ "cls": "Dishwasher"
573
+ },
574
+ "stack_2_right_group_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_2_right_group_1": {
578
+ "cls": "SingleCabinet"
579
+ },
580
+ "cab_1_right_group": {
581
+ "cls": "HingeCabinet"
582
+ },
583
+ "cab_2_right_group": {
584
+ "cls": "SingleCabinet"
585
+ },
586
+ "soap_dispenser_right_group": {
587
+ "cls": "Accessory"
588
+ },
589
+ "counter_corner_1_front_group": {
590
+ "cls": "Counter"
591
+ },
592
+ "counter_1_front_group": {
593
+ "cls": "Counter"
594
+ },
595
+ "stack_1_front_group_base": {
596
+ "cls": "Box"
597
+ },
598
+ "stack_1_front_group_1": {
599
+ "cls": "HingeCabinet"
600
+ },
601
+ "stack_1_front_group_2": {
602
+ "cls": "Drawer"
603
+ },
604
+ "shelves_front_group": {
605
+ "cls": "OpenCabinet"
606
+ },
607
+ "bottom_front_group_base": {
608
+ "cls": "Box"
609
+ },
610
+ "bottom_front_group_1": {
611
+ "cls": "Drawer"
612
+ },
613
+ "bottom_front_group_2": {
614
+ "cls": "Drawer"
615
+ },
616
+ "cab_middle_front_group": {
617
+ "cls": "HingeCabinet"
618
+ },
619
+ "microwave_front_group": {
620
+ "cls": "Microwave"
621
+ },
622
+ "micro_housing_front_group": {
623
+ "cls": "HousingCabinet"
624
+ },
625
+ "top_front_group": {
626
+ "cls": "HingeCabinet"
627
+ },
628
+ "utensil_set_front_group": {
629
+ "cls": "Accessory"
630
+ },
631
+ "counter_1_dining_area_group": {
632
+ "cls": "Counter"
633
+ },
634
+ "paper_towel_dining_area_group": {
635
+ "cls": "Accessory"
636
+ },
637
+ "fruit_bowl_dining_area_group": {
638
+ "cls": "Accessory"
639
+ }
640
+ },
641
+ "gen_textures": {},
642
+ "lang": "Pick the chicken drumstick and cucumber from their plates and place them in the bowl. Then put the bowl in the fridge.",
643
+ "fixture_refs": {
644
+ "stool1": "stool_1_room",
645
+ "stool2": "stool_2_room",
646
+ "dining_counter": "counter_1_dining_area_group",
647
+ "fridge": "fridge_left_group"
648
+ },
649
+ "cam_configs": {
650
+ "robot0_agentview_center": {
651
+ "pos": [
652
+ -0.6,
653
+ 0.0,
654
+ 1.15
655
+ ],
656
+ "quat": [
657
+ 0.636945903301239,
658
+ 0.3325185477733612,
659
+ -0.3199238181114197,
660
+ -0.6175596117973328
661
+ ],
662
+ "parent_body": "mobilebase0_support"
663
+ },
664
+ "robot0_agentview_left": {
665
+ "pos": [
666
+ -0.5,
667
+ 0.35,
668
+ 1.05
669
+ ],
670
+ "quat": [
671
+ 0.55623853,
672
+ 0.29935253,
673
+ -0.37678665,
674
+ -0.6775092
675
+ ],
676
+ "camera_attribs": {
677
+ "fovy": "60"
678
+ },
679
+ "parent_body": "mobilebase0_support"
680
+ },
681
+ "robot0_agentview_right": {
682
+ "pos": [
683
+ -0.5,
684
+ -0.35,
685
+ 1.05
686
+ ],
687
+ "quat": [
688
+ 0.6775091886520386,
689
+ 0.3767866790294647,
690
+ -0.2993525564670563,
691
+ -0.55623859167099
692
+ ],
693
+ "camera_attribs": {
694
+ "fovy": "60"
695
+ },
696
+ "parent_body": "mobilebase0_support"
697
+ },
698
+ "robot0_frontview": {
699
+ "pos": [
700
+ -0.5,
701
+ 0,
702
+ 0.95
703
+ ],
704
+ "quat": [
705
+ 0.6088936924934387,
706
+ 0.3814677894115448,
707
+ -0.3673907518386841,
708
+ -0.5905545353889465
709
+ ],
710
+ "camera_attribs": {
711
+ "fovy": "60"
712
+ },
713
+ "parent_body": "mobilebase0_support"
714
+ },
715
+ "robot0_eye_in_hand": {
716
+ "pos": [
717
+ 0.05,
718
+ 0,
719
+ 0
720
+ ],
721
+ "quat": [
722
+ 0,
723
+ 0.707107,
724
+ 0.707107,
725
+ 0
726
+ ],
727
+ "parent_body": "robot0_right_hand"
728
+ }
729
+ },
730
+ "init_robot_base_pos": [
731
+ 4.921519896532737,
732
+ -4.0536394120740065,
733
+ 0.0
734
+ ],
735
+ "init_robot_base_ori": [
736
+ 0.0,
737
+ 0.0,
738
+ 7.85388898038469
739
+ ]
740
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000112/ep_meta.json ADDED
@@ -0,0 +1,734 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.2500741284517756,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.6499629357741121,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.232802852625,
98
+ 0.23286639915,
99
+ 0.014759147025
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.549925877128271,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -3.7061435864460535e-05,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "mushroom",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "mushroom",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_5/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "counter_1_front_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.23981271599999987,
183
+ 0.2399972111999999,
184
+ 0.09829280159999995
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "stackable",
202
+ "receptacle",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.549925877128271,
216
+ 0.65
217
+ ],
218
+ "offset": [
219
+ -3.7061435864460535e-05,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_right_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "corn",
245
+ "vegetable",
246
+ "food",
247
+ "in_container",
248
+ "oven_ready"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "corn",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.17012238254205664,
260
+ 0.01285438192129941,
261
+ 0.5311948742500949
262
+ ],
263
+ "size": [
264
+ 0.37549296241974783,
265
+ 0.3946066862490093
266
+ ],
267
+ "name": "fridge_shelf2"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_right_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "tupperware",
289
+ "receptacle"
290
+ ],
291
+ "groups": [
292
+ "all"
293
+ ],
294
+ "cat": "tupperware",
295
+ "split": "test",
296
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
297
+ },
298
+ "reset_region": {
299
+ "offset": [
300
+ 0.17012238254205664,
301
+ 0.01285438192129941,
302
+ 0.5311948742500949
303
+ ],
304
+ "size": [
305
+ 0.37549296241974783,
306
+ 0.3946066862490093
307
+ ],
308
+ "name": "fridge_shelf2"
309
+ }
310
+ }
311
+ ],
312
+ "fixtures": {
313
+ "wall_room": {
314
+ "cls": "Wall"
315
+ },
316
+ "wall_backing_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_left_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_left_backing_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_right_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_right_backing_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "outlet_room": {
332
+ "cls": "WallAccessory"
333
+ },
334
+ "utensil_rack_room": {
335
+ "cls": "WallAccessory"
336
+ },
337
+ "light_switch_room": {
338
+ "cls": "WallAccessory"
339
+ },
340
+ "light_switch_2_room": {
341
+ "cls": "WallAccessory"
342
+ },
343
+ "outlet_2_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_3_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "window_group_room": {
350
+ "cls": "Window"
351
+ },
352
+ "floor_room": {
353
+ "cls": "Floor"
354
+ },
355
+ "floor_backing_room": {
356
+ "cls": "Floor"
357
+ },
358
+ "stool_1_room": {
359
+ "cls": "Stool"
360
+ },
361
+ "stool_2_room": {
362
+ "cls": "Stool"
363
+ },
364
+ "stool_3_room": {
365
+ "cls": "Stool"
366
+ },
367
+ "counter_corner_main_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "counter_main_main_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stovetop_main_group": {
374
+ "cls": "Stovetop"
375
+ },
376
+ "counter_1_main_group": {
377
+ "cls": "Counter"
378
+ },
379
+ "counter_corner_2_main_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "cab_corner_main_group": {
383
+ "cls": "Box"
384
+ },
385
+ "cab_corner_2_main_group": {
386
+ "cls": "Box"
387
+ },
388
+ "cab_1_main_group": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "cab_main_main_group": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_2_main_group": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "shelves_1_main_group": {
398
+ "cls": "OpenCabinet"
399
+ },
400
+ "hood_main_group": {
401
+ "cls": "Hood"
402
+ },
403
+ "shelves_2_main_group": {
404
+ "cls": "OpenCabinet"
405
+ },
406
+ "stack_1_main_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_1_main_group_1": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_1_main_group_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_1_main_group_3": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_1_main_group_4": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_2_main_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_2_main_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_2_main_group_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_2_main_group_3": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_3_main_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_3_main_group_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_3_main_group_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_3_main_group_3": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_4_main_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_4_main_group_1": {
449
+ "cls": "HingeCabinet"
450
+ },
451
+ "stack_5_main_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_5_main_group_1": {
455
+ "cls": "SingleCabinet"
456
+ },
457
+ "stack_5_main_group_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "coffee_machine_main_group": {
461
+ "cls": "CoffeeMachine"
462
+ },
463
+ "paper_towel_main_group": {
464
+ "cls": "Accessory"
465
+ },
466
+ "toaster_main_group": {
467
+ "cls": "Toaster"
468
+ },
469
+ "toaster_oven_main_group": {
470
+ "cls": "ToasterOven"
471
+ },
472
+ "utensil_set_main_group": {
473
+ "cls": "Accessory"
474
+ },
475
+ "oil_bottle_main_group": {
476
+ "cls": "Accessory"
477
+ },
478
+ "knife_block_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "jar_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "cinnamon_main_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "turmeric_main_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "paprika_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "oil_bottle_main_group_auxiliary_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "jar_main_group_auxiliary_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "counter_1_front_group": {
500
+ "cls": "Counter"
501
+ },
502
+ "counter_corner_front_group": {
503
+ "cls": "Counter"
504
+ },
505
+ "salt_shaker_front_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "salt_shaker_front_group_auxiliary_front_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "counter_corner_left_group": {
512
+ "cls": "Counter"
513
+ },
514
+ "sink_left_group": {
515
+ "cls": "Sink"
516
+ },
517
+ "counter_1_left_group": {
518
+ "cls": "Counter"
519
+ },
520
+ "counter_corner_right_left_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "stack_1_left_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_1_left_group_1": {
527
+ "cls": "HingeCabinet"
528
+ },
529
+ "stack_1_left_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "stack_1_left_group_3": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_2_left_group_base": {
536
+ "cls": "Box"
537
+ },
538
+ "stack_2_left_group_1": {
539
+ "cls": "HingeCabinet"
540
+ },
541
+ "dishwasher_left_group": {
542
+ "cls": "Dishwasher"
543
+ },
544
+ "stack_3_left_group_base": {
545
+ "cls": "Box"
546
+ },
547
+ "stack_3_left_group_1": {
548
+ "cls": "SingleCabinet"
549
+ },
550
+ "cab_1_left_group": {
551
+ "cls": "HingeCabinet"
552
+ },
553
+ "cab_2_left_group": {
554
+ "cls": "SingleCabinet"
555
+ },
556
+ "plant_left_group": {
557
+ "cls": "Accessory"
558
+ },
559
+ "soap_dispenser_left_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "fruit_bowl_left_group": {
563
+ "cls": "Accessory"
564
+ },
565
+ "stack_left_right_group_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_left_right_group_1": {
569
+ "cls": "SingleCabinet"
570
+ },
571
+ "stack_left_right_group_2": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "fridge_right_group": {
575
+ "cls": "FridgeSideBySide"
576
+ },
577
+ "fridge_housing_right_group": {
578
+ "cls": "HousingCabinet"
579
+ },
580
+ "fridge_top_right_group": {
581
+ "cls": "HingeCabinet"
582
+ },
583
+ "stack_right_right_group_base": {
584
+ "cls": "Box"
585
+ },
586
+ "stack_right_right_group_1": {
587
+ "cls": "SingleCabinet"
588
+ },
589
+ "stack_right_right_group_2": {
590
+ "cls": "SingleCabinet"
591
+ },
592
+ "cab_top_corner_right_group": {
593
+ "cls": "Box"
594
+ },
595
+ "bottom_corner_right_group": {
596
+ "cls": "Box"
597
+ },
598
+ "bottom_right_group_base": {
599
+ "cls": "Box"
600
+ },
601
+ "bottom_right_group_1": {
602
+ "cls": "Drawer"
603
+ },
604
+ "bottom_right_group_2": {
605
+ "cls": "Drawer"
606
+ },
607
+ "oven_right_group": {
608
+ "cls": "Oven"
609
+ },
610
+ "oven_housing_right_group": {
611
+ "cls": "HousingCabinet"
612
+ },
613
+ "microwave_right_group": {
614
+ "cls": "Microwave"
615
+ },
616
+ "micro_housing_right_group": {
617
+ "cls": "HousingCabinet"
618
+ },
619
+ "top_right_group": {
620
+ "cls": "HingeCabinet"
621
+ },
622
+ "side_bottom_right_group_base": {
623
+ "cls": "Box"
624
+ },
625
+ "side_bottom_right_group_1": {
626
+ "cls": "Drawer"
627
+ },
628
+ "side_bottom_right_group_2": {
629
+ "cls": "Drawer"
630
+ },
631
+ "side_bottom_right_group_3": {
632
+ "cls": "HingeCabinet"
633
+ }
634
+ },
635
+ "gen_textures": {},
636
+ "lang": "Pick the chicken drumstick and mushroom from their plates and place them in the bowl. Then put the bowl in the fridge.",
637
+ "fixture_refs": {
638
+ "stool1": "stool_1_room",
639
+ "stool2": "stool_2_room",
640
+ "dining_counter": "counter_1_front_group",
641
+ "fridge": "fridge_right_group"
642
+ },
643
+ "cam_configs": {
644
+ "robot0_agentview_center": {
645
+ "pos": [
646
+ -0.6,
647
+ 0.0,
648
+ 1.15
649
+ ],
650
+ "quat": [
651
+ 0.636945903301239,
652
+ 0.3325185477733612,
653
+ -0.3199238181114197,
654
+ -0.6175596117973328
655
+ ],
656
+ "parent_body": "mobilebase0_support"
657
+ },
658
+ "robot0_agentview_left": {
659
+ "pos": [
660
+ -0.5,
661
+ 0.35,
662
+ 1.05
663
+ ],
664
+ "quat": [
665
+ 0.55623853,
666
+ 0.29935253,
667
+ -0.37678665,
668
+ -0.6775092
669
+ ],
670
+ "camera_attribs": {
671
+ "fovy": "60"
672
+ },
673
+ "parent_body": "mobilebase0_support"
674
+ },
675
+ "robot0_agentview_right": {
676
+ "pos": [
677
+ -0.5,
678
+ -0.35,
679
+ 1.05
680
+ ],
681
+ "quat": [
682
+ 0.6775091886520386,
683
+ 0.3767866790294647,
684
+ -0.2993525564670563,
685
+ -0.55623859167099
686
+ ],
687
+ "camera_attribs": {
688
+ "fovy": "60"
689
+ },
690
+ "parent_body": "mobilebase0_support"
691
+ },
692
+ "robot0_frontview": {
693
+ "pos": [
694
+ -0.5,
695
+ 0,
696
+ 0.95
697
+ ],
698
+ "quat": [
699
+ 0.6088936924934387,
700
+ 0.3814677894115448,
701
+ -0.3673907518386841,
702
+ -0.5905545353889465
703
+ ],
704
+ "camera_attribs": {
705
+ "fovy": "60"
706
+ },
707
+ "parent_body": "mobilebase0_support"
708
+ },
709
+ "robot0_eye_in_hand": {
710
+ "pos": [
711
+ 0.05,
712
+ 0,
713
+ 0
714
+ ],
715
+ "quat": [
716
+ 0,
717
+ 0.707107,
718
+ 0.707107,
719
+ 0
720
+ ],
721
+ "parent_body": "robot0_right_hand"
722
+ }
723
+ },
724
+ "init_robot_base_pos": [
725
+ 2.0028280194441392,
726
+ -4.871832389563382,
727
+ 0.0
728
+ ],
729
+ "init_robot_base_ori": [
730
+ 0.0,
731
+ 0.0,
732
+ 7.85388898038469
733
+ ]
734
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000124/ep_meta.json ADDED
@@ -0,0 +1,651 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.1399842052393057,
47
+ 1.6
48
+ ],
49
+ "offset": [
50
+ 0.6550078973803473,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24720248007000004,
98
+ 0.24572606796000004,
99
+ 0.012934327725
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.4399842052305356,
131
+ 1.6
132
+ ],
133
+ "offset": [
134
+ 0.005007897384732285,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "squash",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "squash",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_16/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "island_island_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.22999947099999987,
183
+ 0.22999348179999984,
184
+ 0.06689473639999997
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "stackable",
202
+ "receptacle",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.4399842052305356,
216
+ 1.6
217
+ ],
218
+ "offset": [
219
+ 0.005007897384732285,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_main_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "marshmallow",
245
+ "sweets",
246
+ "food",
247
+ "in_container"
248
+ ],
249
+ "groups": [
250
+ "all"
251
+ ],
252
+ "cat": "marshmallow",
253
+ "split": "test",
254
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow005/model.xml"
255
+ },
256
+ "reset_region": {
257
+ "offset": [
258
+ -0.0002632047656345171,
259
+ 0.10788939929975168,
260
+ 0.181412742979443
261
+ ],
262
+ "size": [
263
+ 0.7781439843759018,
264
+ 0.5543220166326962
265
+ ],
266
+ "name": "fridge_shelf0"
267
+ }
268
+ },
269
+ {
270
+ "name": "distr2",
271
+ "fridgable": true,
272
+ "placement": {
273
+ "fixture": "fridge_main_group",
274
+ "size": [
275
+ 0.3,
276
+ 0.3
277
+ ],
278
+ "pos": [
279
+ 0.3,
280
+ 1.0
281
+ ]
282
+ },
283
+ "type": "object",
284
+ "info": {
285
+ "groups_containing_sampled_obj": [
286
+ "all",
287
+ "onion",
288
+ "vegetable",
289
+ "food",
290
+ "in_container"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "onion",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ -0.0002632047656345171,
302
+ 0.10788939929975168,
303
+ 0.181412742979443
304
+ ],
305
+ "size": [
306
+ 0.7781439843759018,
307
+ 0.5543220166326962
308
+ ],
309
+ "name": "fridge_shelf0"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_left_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "outlet_room": {
327
+ "cls": "WallAccessory"
328
+ },
329
+ "outlet_2_room": {
330
+ "cls": "WallAccessory"
331
+ },
332
+ "light_switch_room": {
333
+ "cls": "WallAccessory"
334
+ },
335
+ "light_switch_2_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "window_group_room": {
339
+ "cls": "Window"
340
+ },
341
+ "floor_room": {
342
+ "cls": "Floor"
343
+ },
344
+ "floor_backing_room": {
345
+ "cls": "Floor"
346
+ },
347
+ "stool_1_room": {
348
+ "cls": "Stool"
349
+ },
350
+ "stool_2_room": {
351
+ "cls": "Stool"
352
+ },
353
+ "stool_3_room": {
354
+ "cls": "Stool"
355
+ },
356
+ "counter_corner_main_main_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "counter_main_main_group": {
360
+ "cls": "Counter"
361
+ },
362
+ "stovetop_main_group": {
363
+ "cls": "Stovetop"
364
+ },
365
+ "counter_1_right_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "fridge_main_group": {
369
+ "cls": "FridgeFrenchDoor"
370
+ },
371
+ "fridge_housing_main_group": {
372
+ "cls": "HousingCabinet"
373
+ },
374
+ "stack_1_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_1_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_1_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_1_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_main_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_2_main_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "stack_2_main_group_2": {
396
+ "cls": "PanelCabinet"
397
+ },
398
+ "stack_3_main_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_main_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_main_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_main_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "cab_main_main_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "shelves_main_group": {
417
+ "cls": "OpenCabinet"
418
+ },
419
+ "fridge_cab_main_group": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "paper_towel_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "knife_block_main_group": {
426
+ "cls": "Accessory"
427
+ },
428
+ "toaster_main_group": {
429
+ "cls": "Toaster"
430
+ },
431
+ "utensil_set_main_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "jar_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "jar_2_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "glass_cup_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "glass_cup_2_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "jar_main_group_auxiliary_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "jar_2_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "cab_1_left_group": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "cab_2_left_group": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "cab_corner_3_left_group": {
462
+ "cls": "Box"
463
+ },
464
+ "cab_corner_4_left_group": {
465
+ "cls": "Box"
466
+ },
467
+ "sink_left_group": {
468
+ "cls": "Sink"
469
+ },
470
+ "counter_1_left_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "counter_corner_left_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "bottom_left_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "bottom_left_group_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "bottom_left_group_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "oven_left_group": {
486
+ "cls": "Oven"
487
+ },
488
+ "oven_housing_left_group": {
489
+ "cls": "HousingCabinet"
490
+ },
491
+ "microwave_left_group": {
492
+ "cls": "Microwave"
493
+ },
494
+ "micro_housing_left_group": {
495
+ "cls": "HousingCabinet"
496
+ },
497
+ "top_left_group": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "stack_1_left_group": {
501
+ "cls": "SingleCabinet"
502
+ },
503
+ "dishwasher_left_group": {
504
+ "cls": "Dishwasher"
505
+ },
506
+ "stack_2_left_group_base": {
507
+ "cls": "Box"
508
+ },
509
+ "stack_2_left_group_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "stack_2_left_group_2": {
513
+ "cls": "PanelCabinet"
514
+ },
515
+ "stack_3_left_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_3_left_group_1": {
519
+ "cls": "HingeCabinet"
520
+ },
521
+ "stack_3_left_group_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_3_left_group_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "coffee_machine_left_group": {
528
+ "cls": "CoffeeMachine"
529
+ },
530
+ "soap_dispenser_left_group": {
531
+ "cls": "Accessory"
532
+ },
533
+ "tiered_basket_left_group": {
534
+ "cls": "Accessory"
535
+ },
536
+ "island_island_group": {
537
+ "cls": "Counter"
538
+ },
539
+ "plant_island_group": {
540
+ "cls": "Accessory"
541
+ },
542
+ "fruit_bowl_island_group": {
543
+ "cls": "Accessory"
544
+ },
545
+ "salt_shaker_island_group": {
546
+ "cls": "Accessory"
547
+ },
548
+ "salt_shaker_island_group_auxiliary_island_group": {
549
+ "cls": "Accessory"
550
+ }
551
+ },
552
+ "gen_textures": {},
553
+ "lang": "Pick the chicken drumstick and squash from their plates and place them in the bowl. Then put the bowl in the fridge.",
554
+ "fixture_refs": {
555
+ "stool1": "stool_1_room",
556
+ "stool2": "stool_2_room",
557
+ "dining_counter": "island_island_group",
558
+ "fridge": "fridge_main_group"
559
+ },
560
+ "cam_configs": {
561
+ "robot0_agentview_center": {
562
+ "pos": [
563
+ -0.6,
564
+ 0.0,
565
+ 1.15
566
+ ],
567
+ "quat": [
568
+ 0.636945903301239,
569
+ 0.3325185477733612,
570
+ -0.3199238181114197,
571
+ -0.6175596117973328
572
+ ],
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_agentview_left": {
576
+ "pos": [
577
+ -0.5,
578
+ 0.35,
579
+ 1.05
580
+ ],
581
+ "quat": [
582
+ 0.55623853,
583
+ 0.29935253,
584
+ -0.37678665,
585
+ -0.6775092
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_agentview_right": {
593
+ "pos": [
594
+ -0.5,
595
+ -0.35,
596
+ 1.05
597
+ ],
598
+ "quat": [
599
+ 0.6775091886520386,
600
+ 0.3767866790294647,
601
+ -0.2993525564670563,
602
+ -0.55623859167099
603
+ ],
604
+ "camera_attribs": {
605
+ "fovy": "60"
606
+ },
607
+ "parent_body": "mobilebase0_support"
608
+ },
609
+ "robot0_frontview": {
610
+ "pos": [
611
+ -0.5,
612
+ 0,
613
+ 0.95
614
+ ],
615
+ "quat": [
616
+ 0.6088936924934387,
617
+ 0.3814677894115448,
618
+ -0.3673907518386841,
619
+ -0.5905545353889465
620
+ ],
621
+ "camera_attribs": {
622
+ "fovy": "60"
623
+ },
624
+ "parent_body": "mobilebase0_support"
625
+ },
626
+ "robot0_eye_in_hand": {
627
+ "pos": [
628
+ 0.05,
629
+ 0,
630
+ 0
631
+ ],
632
+ "quat": [
633
+ 0,
634
+ 0.707107,
635
+ 0.707107,
636
+ 0
637
+ ],
638
+ "parent_body": "robot0_right_hand"
639
+ }
640
+ },
641
+ "init_robot_base_pos": [
642
+ 4.050858143589149,
643
+ -3.1413187337214046,
644
+ 0.0
645
+ ],
646
+ "init_robot_base_ori": [
647
+ 0.0,
648
+ 0.0,
649
+ 3.1415889803846895
650
+ ]
651
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000204/ep_meta.json ADDED
@@ -0,0 +1,813 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 7,
3
+ "style_id": 7,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.232802852625,
14
+ 0.23286639915,
15
+ 0.014759147025
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.4976678600342783,
47
+ 1.55
48
+ ],
49
+ "offset": [
50
+ 0.649935139697214,
51
+ 2.0816681711721685e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 0.8020727043346244,
131
+ 0.9350000000000002
132
+ ],
133
+ "offset": [
134
+ -6.48575127626394e-05,
135
+ 0.3075,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "carrot",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1",
165
+ "group1"
166
+ ],
167
+ "groups": [
168
+ "vegetable"
169
+ ],
170
+ "cat": "carrot",
171
+ "split": "test",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_4/model.xml"
173
+ }
174
+ },
175
+ {
176
+ "name": "bowl",
177
+ "obj_groups": "bowl",
178
+ "graspable": true,
179
+ "placement": {
180
+ "fixture": "island_island_group",
181
+ "sample_region_kwargs": {
182
+ "ref": "stool_2_room",
183
+ "min_size": [
184
+ 0.23981271599999987,
185
+ 0.2399972111999999,
186
+ 0.09829280159999995
187
+ ]
188
+ },
189
+ "size": [
190
+ 1.0,
191
+ 0.4
192
+ ],
193
+ "pos": [
194
+ "ref",
195
+ "ref"
196
+ ]
197
+ },
198
+ "type": "object",
199
+ "info": {
200
+ "groups_containing_sampled_obj": [
201
+ "all",
202
+ "bowl",
203
+ "stackable",
204
+ "receptacle",
205
+ "group1",
206
+ "container_set2"
207
+ ],
208
+ "groups": [
209
+ "bowl"
210
+ ],
211
+ "cat": "bowl",
212
+ "split": "test",
213
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
214
+ },
215
+ "reset_region": {
216
+ "size": [
217
+ 0.8020727043346244,
218
+ 0.9350000000000002
219
+ ],
220
+ "offset": [
221
+ -6.48575127626394e-05,
222
+ 0.3075,
223
+ 0.46
224
+ ],
225
+ "name": "geom_0"
226
+ }
227
+ },
228
+ {
229
+ "name": "distr1",
230
+ "fridgable": true,
231
+ "placement": {
232
+ "fixture": "fridge_right_group",
233
+ "size": [
234
+ 0.3,
235
+ 0.3
236
+ ],
237
+ "pos": [
238
+ -0.3,
239
+ 1.0
240
+ ]
241
+ },
242
+ "type": "object",
243
+ "info": {
244
+ "groups_containing_sampled_obj": [
245
+ "all",
246
+ "mushroom",
247
+ "vegetable",
248
+ "food",
249
+ "in_container"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "mushroom",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ 0.17648921902301634,
261
+ 0.09431713873401872,
262
+ 0.1835105829355773
263
+ ],
264
+ "size": [
265
+ 0.4128378194384873,
266
+ 0.5356103330552707
267
+ ],
268
+ "name": "fridge_shelf1"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_right_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "cucumber",
290
+ "vegetable",
291
+ "food",
292
+ "in_container",
293
+ "food_set1"
294
+ ],
295
+ "groups": [
296
+ "all"
297
+ ],
298
+ "cat": "cucumber",
299
+ "split": "test",
300
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
301
+ },
302
+ "reset_region": {
303
+ "offset": [
304
+ 0.17648921902301634,
305
+ 0.09431713873401872,
306
+ 0.1835105829355773
307
+ ],
308
+ "size": [
309
+ 0.4128378194384873,
310
+ 0.5356103330552707
311
+ ],
312
+ "name": "fridge_shelf1"
313
+ }
314
+ }
315
+ ],
316
+ "fixtures": {
317
+ "wall_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_backing_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_backing_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_right_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_right_backing_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "floor_room": {
336
+ "cls": "Floor"
337
+ },
338
+ "floor_backing_room": {
339
+ "cls": "Floor"
340
+ },
341
+ "utensil_rack_room": {
342
+ "cls": "WallAccessory"
343
+ },
344
+ "light_switch_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "light_switch_2_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "outlet_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "outlet_2_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "outlet_3_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "window_group_room": {
360
+ "cls": "Window"
361
+ },
362
+ "stool_1_room": {
363
+ "cls": "Stool"
364
+ },
365
+ "stool_2_room": {
366
+ "cls": "Stool"
367
+ },
368
+ "stool_3_room": {
369
+ "cls": "Stool"
370
+ },
371
+ "counter_corner_main_group": {
372
+ "cls": "Counter"
373
+ },
374
+ "counter_1_main_group": {
375
+ "cls": "Counter"
376
+ },
377
+ "stovetop_main_group": {
378
+ "cls": "Stovetop"
379
+ },
380
+ "counter_main_main_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "counter_corner_2_main_group": {
384
+ "cls": "Counter"
385
+ },
386
+ "cab_corner_main_group": {
387
+ "cls": "Box"
388
+ },
389
+ "cab_corner_2_main_group": {
390
+ "cls": "Box"
391
+ },
392
+ "cab_1_main_group": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "hood_main_group": {
396
+ "cls": "Hood"
397
+ },
398
+ "shelves_main_group": {
399
+ "cls": "OpenCabinet"
400
+ },
401
+ "cab_main_main_group": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "cab_corner_3_main_group": {
405
+ "cls": "Box"
406
+ },
407
+ "cab_corner_4_main_group": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_1_main_group_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_1_main_group_1": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "stack_1_main_group_2": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_1_main_group_3": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_2_main_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_2_main_group_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_2_main_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_2_main_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_3_main_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_3_main_group_1": {
438
+ "cls": "Drawer"
439
+ },
440
+ "stack_3_main_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_3_main_group_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_3_main_group_4": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_4_main_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_4_main_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_5_main_group_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_5_main_group_1": {
459
+ "cls": "HingeCabinet"
460
+ },
461
+ "stack_5_main_group_2": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_5_main_group_3": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_6_main_group_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_6_main_group_1": {
471
+ "cls": "SingleCabinet"
472
+ },
473
+ "stack_6_main_group_2": {
474
+ "cls": "Drawer"
475
+ },
476
+ "knife_block_main_group": {
477
+ "cls": "Accessory"
478
+ },
479
+ "paper_towel_main_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "utensil_set_main_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "oil_bottle_main_group": {
486
+ "cls": "Accessory"
487
+ },
488
+ "glass_cup_main_group": {
489
+ "cls": "Accessory"
490
+ },
491
+ "glass_cup_2_main_group": {
492
+ "cls": "Accessory"
493
+ },
494
+ "oil_bottle_main_group_auxiliary_main_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "sink_island_group": {
498
+ "cls": "Sink"
499
+ },
500
+ "island_island_group": {
501
+ "cls": "Counter"
502
+ },
503
+ "island_stack_1_island_group_base": {
504
+ "cls": "Box"
505
+ },
506
+ "island_stack_1_island_group_1": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "island_stack_1_island_group_2": {
510
+ "cls": "PanelCabinet"
511
+ },
512
+ "dishwasher_island_group": {
513
+ "cls": "Dishwasher"
514
+ },
515
+ "island_panel_cab_right_island_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "island_panel_cab_right_island_group_1": {
519
+ "cls": "PanelCabinet"
520
+ },
521
+ "island_cab_right_island_group_base": {
522
+ "cls": "Box"
523
+ },
524
+ "island_cab_right_island_group_1": {
525
+ "cls": "Drawer"
526
+ },
527
+ "island_cab_right_island_group_2": {
528
+ "cls": "Drawer"
529
+ },
530
+ "island_cab_right_island_group_3": {
531
+ "cls": "Drawer"
532
+ },
533
+ "island_cab_right_island_group_4": {
534
+ "cls": "Drawer"
535
+ },
536
+ "island_panel_cab_left_island_group_base": {
537
+ "cls": "Box"
538
+ },
539
+ "island_panel_cab_left_island_group_1": {
540
+ "cls": "PanelCabinet"
541
+ },
542
+ "island_base_box_island_group": {
543
+ "cls": "Box"
544
+ },
545
+ "plant_island_group": {
546
+ "cls": "Accessory"
547
+ },
548
+ "soap_dispenser_island_group": {
549
+ "cls": "Accessory"
550
+ },
551
+ "fruit_bowl_island_group": {
552
+ "cls": "Accessory"
553
+ },
554
+ "salt_shaker_island_group": {
555
+ "cls": "Accessory"
556
+ },
557
+ "salt_shaker_island_group_auxiliary_island_group": {
558
+ "cls": "Accessory"
559
+ },
560
+ "counter_1_left_group": {
561
+ "cls": "Counter"
562
+ },
563
+ "counter_corner_left_group": {
564
+ "cls": "Counter"
565
+ },
566
+ "bottom_left_group_base": {
567
+ "cls": "Box"
568
+ },
569
+ "bottom_left_group_1": {
570
+ "cls": "Drawer"
571
+ },
572
+ "bottom_left_group_2": {
573
+ "cls": "Drawer"
574
+ },
575
+ "oven_left_group": {
576
+ "cls": "Oven"
577
+ },
578
+ "oven_housing_left_group": {
579
+ "cls": "HousingCabinet"
580
+ },
581
+ "microwave_left_group": {
582
+ "cls": "Microwave"
583
+ },
584
+ "micro_housing_left_group": {
585
+ "cls": "HousingCabinet"
586
+ },
587
+ "top_left_group": {
588
+ "cls": "HingeCabinet"
589
+ },
590
+ "stack_1_left_group_base": {
591
+ "cls": "Box"
592
+ },
593
+ "stack_1_left_group_1": {
594
+ "cls": "SingleCabinet"
595
+ },
596
+ "stack_1_left_group_2": {
597
+ "cls": "Drawer"
598
+ },
599
+ "stack_2_left_group_base": {
600
+ "cls": "Box"
601
+ },
602
+ "stack_2_left_group_1": {
603
+ "cls": "HingeCabinet"
604
+ },
605
+ "stack_2_left_group_2": {
606
+ "cls": "Drawer"
607
+ },
608
+ "stack_2_left_group_3": {
609
+ "cls": "Drawer"
610
+ },
611
+ "stack_3_left_group_base": {
612
+ "cls": "Box"
613
+ },
614
+ "stack_3_left_group_1": {
615
+ "cls": "Drawer"
616
+ },
617
+ "stack_3_left_group_2": {
618
+ "cls": "Drawer"
619
+ },
620
+ "stack_3_left_group_3": {
621
+ "cls": "Drawer"
622
+ },
623
+ "stack_3_left_group_4": {
624
+ "cls": "Drawer"
625
+ },
626
+ "shelves_left_group": {
627
+ "cls": "OpenCabinet"
628
+ },
629
+ "cab_2_left_group": {
630
+ "cls": "SingleCabinet"
631
+ },
632
+ "toaster_oven_left_group": {
633
+ "cls": "ToasterOven"
634
+ },
635
+ "paprika_left_group": {
636
+ "cls": "Accessory"
637
+ },
638
+ "cinnamon_left_group": {
639
+ "cls": "Accessory"
640
+ },
641
+ "turmeric_left_group": {
642
+ "cls": "Accessory"
643
+ },
644
+ "jar_left_group": {
645
+ "cls": "Accessory"
646
+ },
647
+ "jar_left_group_auxiliary_left_group": {
648
+ "cls": "Accessory"
649
+ },
650
+ "counter_1_right_group": {
651
+ "cls": "Counter"
652
+ },
653
+ "counter_corner_right_group": {
654
+ "cls": "Counter"
655
+ },
656
+ "fridge_right_group": {
657
+ "cls": "FridgeSideBySide"
658
+ },
659
+ "fridge_housing_right_group": {
660
+ "cls": "HousingCabinet"
661
+ },
662
+ "stack_1_right_group_base": {
663
+ "cls": "Box"
664
+ },
665
+ "stack_1_right_group_1": {
666
+ "cls": "HingeCabinet"
667
+ },
668
+ "stack_1_right_group_2": {
669
+ "cls": "Drawer"
670
+ },
671
+ "stack_1_right_group_3": {
672
+ "cls": "Drawer"
673
+ },
674
+ "stack_2_right_group_base": {
675
+ "cls": "Box"
676
+ },
677
+ "stack_2_right_group_1": {
678
+ "cls": "SingleCabinet"
679
+ },
680
+ "stack_2_right_group_2": {
681
+ "cls": "Drawer"
682
+ },
683
+ "stack_3_right_group_base": {
684
+ "cls": "Box"
685
+ },
686
+ "stack_3_right_group_1": {
687
+ "cls": "Drawer"
688
+ },
689
+ "stack_3_right_group_2": {
690
+ "cls": "Drawer"
691
+ },
692
+ "stack_3_right_group_3": {
693
+ "cls": "Drawer"
694
+ },
695
+ "stack_3_right_group_4": {
696
+ "cls": "Drawer"
697
+ },
698
+ "cab_1_right_group": {
699
+ "cls": "HingeCabinet"
700
+ },
701
+ "cab_2_right_group": {
702
+ "cls": "HingeCabinet"
703
+ },
704
+ "fridge_cab_right_group": {
705
+ "cls": "HingeCabinet"
706
+ },
707
+ "coffee_machine_right_group": {
708
+ "cls": "CoffeeMachine"
709
+ },
710
+ "toaster_right_group": {
711
+ "cls": "Toaster"
712
+ }
713
+ },
714
+ "gen_textures": {},
715
+ "lang": "Pick the chicken drumstick and carrot from their plates and place them in the bowl. Then put the bowl in the fridge.",
716
+ "fixture_refs": {
717
+ "stool1": "stool_1_room",
718
+ "stool2": "stool_2_room",
719
+ "dining_counter": "island_island_group",
720
+ "fridge": "fridge_right_group"
721
+ },
722
+ "cam_configs": {
723
+ "robot0_agentview_center": {
724
+ "pos": [
725
+ -0.6,
726
+ 0.0,
727
+ 1.15
728
+ ],
729
+ "quat": [
730
+ 0.636945903301239,
731
+ 0.3325185477733612,
732
+ -0.3199238181114197,
733
+ -0.6175596117973328
734
+ ],
735
+ "parent_body": "mobilebase0_support"
736
+ },
737
+ "robot0_agentview_left": {
738
+ "pos": [
739
+ -0.5,
740
+ 0.35,
741
+ 1.05
742
+ ],
743
+ "quat": [
744
+ 0.55623853,
745
+ 0.29935253,
746
+ -0.37678665,
747
+ -0.6775092
748
+ ],
749
+ "camera_attribs": {
750
+ "fovy": "60"
751
+ },
752
+ "parent_body": "mobilebase0_support"
753
+ },
754
+ "robot0_agentview_right": {
755
+ "pos": [
756
+ -0.5,
757
+ -0.35,
758
+ 1.05
759
+ ],
760
+ "quat": [
761
+ 0.6775091886520386,
762
+ 0.3767866790294647,
763
+ -0.2993525564670563,
764
+ -0.55623859167099
765
+ ],
766
+ "camera_attribs": {
767
+ "fovy": "60"
768
+ },
769
+ "parent_body": "mobilebase0_support"
770
+ },
771
+ "robot0_frontview": {
772
+ "pos": [
773
+ -0.5,
774
+ 0,
775
+ 0.95
776
+ ],
777
+ "quat": [
778
+ 0.6088936924934387,
779
+ 0.3814677894115448,
780
+ -0.3673907518386841,
781
+ -0.5905545353889465
782
+ ],
783
+ "camera_attribs": {
784
+ "fovy": "60"
785
+ },
786
+ "parent_body": "mobilebase0_support"
787
+ },
788
+ "robot0_eye_in_hand": {
789
+ "pos": [
790
+ 0.05,
791
+ 0,
792
+ 0
793
+ ],
794
+ "quat": [
795
+ 0,
796
+ 0.707107,
797
+ 0.707107,
798
+ 0
799
+ ],
800
+ "parent_body": "robot0_right_hand"
801
+ }
802
+ },
803
+ "init_robot_base_pos": [
804
+ 3.1028250091468013,
805
+ -3.759221840961669,
806
+ 0.0
807
+ ],
808
+ "init_robot_base_ori": [
809
+ 0.0,
810
+ 0.0,
811
+ 7.85388898038469
812
+ ]
813
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000222/ep_meta.json ADDED
@@ -0,0 +1,741 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.244743326685,
98
+ 0.24474403597500002,
99
+ 0.023217144615000004
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "mushroom",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "mushroom",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "counter_1_dining_area_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.22999947099999987,
183
+ 0.22999348179999984,
184
+ 0.06689473639999997
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "stackable",
202
+ "receptacle",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.249796168970498,
216
+ 1.0
217
+ ],
218
+ "offset": [
219
+ -0.00010191551475102756,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_left_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "bread",
245
+ "bread_food",
246
+ "food",
247
+ "in_container"
248
+ ],
249
+ "groups": [
250
+ "all"
251
+ ],
252
+ "cat": "bread",
253
+ "split": "test",
254
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_5/model.xml"
255
+ },
256
+ "reset_region": {
257
+ "offset": [
258
+ 0.0014527782289688873,
259
+ 0.06958483932993503,
260
+ 0.5474662028803855
261
+ ],
262
+ "size": [
263
+ 0.6856360152799493,
264
+ 0.5182223041537808
265
+ ],
266
+ "name": "fridge_shelf1"
267
+ }
268
+ },
269
+ {
270
+ "name": "distr2",
271
+ "fridgable": true,
272
+ "placement": {
273
+ "fixture": "fridge_left_group",
274
+ "size": [
275
+ 0.3,
276
+ 0.3
277
+ ],
278
+ "pos": [
279
+ 0.3,
280
+ 1.0
281
+ ]
282
+ },
283
+ "type": "object",
284
+ "info": {
285
+ "groups_containing_sampled_obj": [
286
+ "all",
287
+ "hotdog_bun",
288
+ "bread_food",
289
+ "food",
290
+ "in_container"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "hotdog_bun",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun012/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ 0.0014527782289688873,
302
+ 0.06981058591882013,
303
+ 0.1844737151775919
304
+ ],
305
+ "size": [
306
+ 0.6856360152799493,
307
+ 0.5172543487964222
308
+ ],
309
+ "name": "fridge_shelf0"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_front_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_front_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_left_backing_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_left_2_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "wall_2_left_backing_room": {
336
+ "cls": "Wall"
337
+ },
338
+ "wall_right_room": {
339
+ "cls": "Wall"
340
+ },
341
+ "wall_right_backing_room": {
342
+ "cls": "Wall"
343
+ },
344
+ "utensil_rack_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "outlet_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "outlet_2_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "outlet_3_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "light_switch_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "light_switch_2_room": {
360
+ "cls": "WallAccessory"
361
+ },
362
+ "window_group_room": {
363
+ "cls": "Window"
364
+ },
365
+ "floor_room": {
366
+ "cls": "Floor"
367
+ },
368
+ "floor_backing_room": {
369
+ "cls": "Floor"
370
+ },
371
+ "floor_front_room": {
372
+ "cls": "Floor"
373
+ },
374
+ "floor_front_backing_room": {
375
+ "cls": "Floor"
376
+ },
377
+ "stool_1_room": {
378
+ "cls": "Stool"
379
+ },
380
+ "stool_2_room": {
381
+ "cls": "Stool"
382
+ },
383
+ "stool_3_room": {
384
+ "cls": "Stool"
385
+ },
386
+ "counter_corner_1_main_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "counter_main_main_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "stove_main_group": {
393
+ "cls": "Stove"
394
+ },
395
+ "counter_1_main_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "counter_corner_2_main_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "cab_corner_main_group": {
402
+ "cls": "Box"
403
+ },
404
+ "cab_main_main_group": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "cab_1_main_group": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "shelves_main_group": {
414
+ "cls": "OpenCabinet"
415
+ },
416
+ "cab_corner_3_main_group": {
417
+ "cls": "Box"
418
+ },
419
+ "cab_corner_4_main_group": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_1_main_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_main_group_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_1_main_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_1_main_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_2_main_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_main_group_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "stack_2_main_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_2_main_group_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "right_corner_box_main_group": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_3_main_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_3_main_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_3_main_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_3_main_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_4_main_group_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_4_main_group_1": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_4_main_group_2": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_4_main_group_3": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_4_main_group_4": {
474
+ "cls": "Drawer"
475
+ },
476
+ "coffee_machine_main_group": {
477
+ "cls": "CoffeeMachine"
478
+ },
479
+ "knife_block_main_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "plant_main_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "toaster_main_group": {
486
+ "cls": "Toaster"
487
+ },
488
+ "toaster_oven_main_group": {
489
+ "cls": "ToasterOven"
490
+ },
491
+ "tiered_basket_main_group": {
492
+ "cls": "Accessory"
493
+ },
494
+ "jar_main_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "paprika_main_group": {
498
+ "cls": "Accessory"
499
+ },
500
+ "cinnamon_main_group": {
501
+ "cls": "Accessory"
502
+ },
503
+ "turmeric_main_group": {
504
+ "cls": "Accessory"
505
+ },
506
+ "salt_shaker_main_group": {
507
+ "cls": "Accessory"
508
+ },
509
+ "jar_main_group_auxiliary_main_group": {
510
+ "cls": "Accessory"
511
+ },
512
+ "salt_shaker_main_group_auxiliary_main_group": {
513
+ "cls": "Accessory"
514
+ },
515
+ "fridge_left_group": {
516
+ "cls": "FridgeFrenchDoor"
517
+ },
518
+ "fridge_housing_left_group": {
519
+ "cls": "HousingCabinet"
520
+ },
521
+ "fridge_top_left_group": {
522
+ "cls": "HingeCabinet"
523
+ },
524
+ "stack_left_left_group_base": {
525
+ "cls": "Box"
526
+ },
527
+ "stack_left_left_group_1": {
528
+ "cls": "SingleCabinet"
529
+ },
530
+ "stack_left_left_group_2": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_right_left_group_base": {
534
+ "cls": "Box"
535
+ },
536
+ "stack_right_left_group_1": {
537
+ "cls": "SingleCabinet"
538
+ },
539
+ "stack_right_left_group_2": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "box_left_top_left_group": {
543
+ "cls": "Box"
544
+ },
545
+ "box_left_bottom_left_group": {
546
+ "cls": "Box"
547
+ },
548
+ "box_right_top_left_group": {
549
+ "cls": "Box"
550
+ },
551
+ "box_right_bottom_left_group": {
552
+ "cls": "Box"
553
+ },
554
+ "sink_right_group": {
555
+ "cls": "Sink"
556
+ },
557
+ "counter_1_right_group": {
558
+ "cls": "Counter"
559
+ },
560
+ "counter_corner_right_group": {
561
+ "cls": "Counter"
562
+ },
563
+ "stack_1_right_group_base": {
564
+ "cls": "Box"
565
+ },
566
+ "stack_1_right_group_1": {
567
+ "cls": "HingeCabinet"
568
+ },
569
+ "stack_1_right_group_2": {
570
+ "cls": "PanelCabinet"
571
+ },
572
+ "dishwasher_right_group": {
573
+ "cls": "Dishwasher"
574
+ },
575
+ "stack_2_right_group_base": {
576
+ "cls": "Box"
577
+ },
578
+ "stack_2_right_group_1": {
579
+ "cls": "SingleCabinet"
580
+ },
581
+ "cab_1_right_group": {
582
+ "cls": "HingeCabinet"
583
+ },
584
+ "cab_2_right_group": {
585
+ "cls": "SingleCabinet"
586
+ },
587
+ "soap_dispenser_right_group": {
588
+ "cls": "Accessory"
589
+ },
590
+ "counter_corner_1_front_group": {
591
+ "cls": "Counter"
592
+ },
593
+ "counter_1_front_group": {
594
+ "cls": "Counter"
595
+ },
596
+ "stack_1_front_group_base": {
597
+ "cls": "Box"
598
+ },
599
+ "stack_1_front_group_1": {
600
+ "cls": "HingeCabinet"
601
+ },
602
+ "stack_1_front_group_2": {
603
+ "cls": "Drawer"
604
+ },
605
+ "shelves_front_group": {
606
+ "cls": "OpenCabinet"
607
+ },
608
+ "bottom_front_group_base": {
609
+ "cls": "Box"
610
+ },
611
+ "bottom_front_group_1": {
612
+ "cls": "Drawer"
613
+ },
614
+ "bottom_front_group_2": {
615
+ "cls": "Drawer"
616
+ },
617
+ "cab_middle_front_group": {
618
+ "cls": "HingeCabinet"
619
+ },
620
+ "microwave_front_group": {
621
+ "cls": "Microwave"
622
+ },
623
+ "micro_housing_front_group": {
624
+ "cls": "HousingCabinet"
625
+ },
626
+ "top_front_group": {
627
+ "cls": "HingeCabinet"
628
+ },
629
+ "utensil_set_front_group": {
630
+ "cls": "Accessory"
631
+ },
632
+ "counter_1_dining_area_group": {
633
+ "cls": "Counter"
634
+ },
635
+ "paper_towel_dining_area_group": {
636
+ "cls": "Accessory"
637
+ },
638
+ "fruit_bowl_dining_area_group": {
639
+ "cls": "Accessory"
640
+ }
641
+ },
642
+ "gen_textures": {},
643
+ "lang": "Pick the chicken drumstick and mushroom from their plates and place them in the bowl. Then put the bowl in the fridge.",
644
+ "fixture_refs": {
645
+ "stool1": "stool_1_room",
646
+ "stool2": "stool_2_room",
647
+ "dining_counter": "counter_1_dining_area_group",
648
+ "fridge": "fridge_left_group"
649
+ },
650
+ "cam_configs": {
651
+ "robot0_agentview_center": {
652
+ "pos": [
653
+ -0.6,
654
+ 0.0,
655
+ 1.15
656
+ ],
657
+ "quat": [
658
+ 0.636945903301239,
659
+ 0.3325185477733612,
660
+ -0.3199238181114197,
661
+ -0.6175596117973328
662
+ ],
663
+ "parent_body": "mobilebase0_support"
664
+ },
665
+ "robot0_agentview_left": {
666
+ "pos": [
667
+ -0.5,
668
+ 0.35,
669
+ 1.05
670
+ ],
671
+ "quat": [
672
+ 0.55623853,
673
+ 0.29935253,
674
+ -0.37678665,
675
+ -0.6775092
676
+ ],
677
+ "camera_attribs": {
678
+ "fovy": "60"
679
+ },
680
+ "parent_body": "mobilebase0_support"
681
+ },
682
+ "robot0_agentview_right": {
683
+ "pos": [
684
+ -0.5,
685
+ -0.35,
686
+ 1.05
687
+ ],
688
+ "quat": [
689
+ 0.6775091886520386,
690
+ 0.3767866790294647,
691
+ -0.2993525564670563,
692
+ -0.55623859167099
693
+ ],
694
+ "camera_attribs": {
695
+ "fovy": "60"
696
+ },
697
+ "parent_body": "mobilebase0_support"
698
+ },
699
+ "robot0_frontview": {
700
+ "pos": [
701
+ -0.5,
702
+ 0,
703
+ 0.95
704
+ ],
705
+ "quat": [
706
+ 0.6088936924934387,
707
+ 0.3814677894115448,
708
+ -0.3673907518386841,
709
+ -0.5905545353889465
710
+ ],
711
+ "camera_attribs": {
712
+ "fovy": "60"
713
+ },
714
+ "parent_body": "mobilebase0_support"
715
+ },
716
+ "robot0_eye_in_hand": {
717
+ "pos": [
718
+ 0.05,
719
+ 0,
720
+ 0
721
+ ],
722
+ "quat": [
723
+ 0,
724
+ 0.707107,
725
+ 0.707107,
726
+ 0
727
+ ],
728
+ "parent_body": "robot0_right_hand"
729
+ }
730
+ },
731
+ "init_robot_base_pos": [
732
+ 4.730723868776891,
733
+ -4.068016825689668,
734
+ 0.0
735
+ ],
736
+ "init_robot_base_ori": [
737
+ 0.0,
738
+ 0.0,
739
+ 7.85388898038469
740
+ ]
741
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000248/ep_meta.json ADDED
@@ -0,0 +1,743 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24568749157499997,
14
+ 0.24474791709000002,
15
+ 0.03850276869
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "sweet_potato",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "sweet_potato",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_dining_area_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.22999947099999987,
184
+ 0.22999348179999984,
185
+ 0.06689473639999997
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "stackable",
203
+ "receptacle",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.249796168970498,
217
+ 1.0
218
+ ],
219
+ "offset": [
220
+ -0.00010191551475102756,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "hot_dog",
246
+ "cooked_food",
247
+ "food",
248
+ "in_container"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "hot_dog",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_5/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.0014527782289688873,
260
+ 0.06981058591882013,
261
+ 0.1844737151775919
262
+ ],
263
+ "size": [
264
+ 0.6856360152799493,
265
+ 0.5172543487964222
266
+ ],
267
+ "name": "fridge_shelf0"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "chicken_drumstick",
289
+ "meat",
290
+ "food",
291
+ "in_container",
292
+ "oven_ready"
293
+ ],
294
+ "groups": [
295
+ "all"
296
+ ],
297
+ "cat": "chicken_drumstick",
298
+ "split": "test",
299
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
300
+ },
301
+ "reset_region": {
302
+ "offset": [
303
+ 0.0014527782289688873,
304
+ 0.06958483932993503,
305
+ 0.5474662028803855
306
+ ],
307
+ "size": [
308
+ 0.6856360152799493,
309
+ 0.5182223041537808
310
+ ],
311
+ "name": "fridge_shelf1"
312
+ }
313
+ }
314
+ ],
315
+ "fixtures": {
316
+ "wall_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_backing_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_front_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_front_backing_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_left_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "wall_left_backing_room": {
332
+ "cls": "Wall"
333
+ },
334
+ "wall_left_2_room": {
335
+ "cls": "Wall"
336
+ },
337
+ "wall_2_left_backing_room": {
338
+ "cls": "Wall"
339
+ },
340
+ "wall_right_room": {
341
+ "cls": "Wall"
342
+ },
343
+ "wall_right_backing_room": {
344
+ "cls": "Wall"
345
+ },
346
+ "utensil_rack_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "outlet_room": {
350
+ "cls": "WallAccessory"
351
+ },
352
+ "outlet_2_room": {
353
+ "cls": "WallAccessory"
354
+ },
355
+ "outlet_3_room": {
356
+ "cls": "WallAccessory"
357
+ },
358
+ "light_switch_room": {
359
+ "cls": "WallAccessory"
360
+ },
361
+ "light_switch_2_room": {
362
+ "cls": "WallAccessory"
363
+ },
364
+ "window_group_room": {
365
+ "cls": "Window"
366
+ },
367
+ "floor_room": {
368
+ "cls": "Floor"
369
+ },
370
+ "floor_backing_room": {
371
+ "cls": "Floor"
372
+ },
373
+ "floor_front_room": {
374
+ "cls": "Floor"
375
+ },
376
+ "floor_front_backing_room": {
377
+ "cls": "Floor"
378
+ },
379
+ "stool_1_room": {
380
+ "cls": "Stool"
381
+ },
382
+ "stool_2_room": {
383
+ "cls": "Stool"
384
+ },
385
+ "stool_3_room": {
386
+ "cls": "Stool"
387
+ },
388
+ "counter_corner_1_main_group": {
389
+ "cls": "Counter"
390
+ },
391
+ "counter_main_main_group": {
392
+ "cls": "Counter"
393
+ },
394
+ "stove_main_group": {
395
+ "cls": "Stove"
396
+ },
397
+ "counter_1_main_group": {
398
+ "cls": "Counter"
399
+ },
400
+ "counter_corner_2_main_group": {
401
+ "cls": "Counter"
402
+ },
403
+ "cab_corner_main_group": {
404
+ "cls": "Box"
405
+ },
406
+ "cab_main_main_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_1_main_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "hood_main_group": {
413
+ "cls": "Hood"
414
+ },
415
+ "shelves_main_group": {
416
+ "cls": "OpenCabinet"
417
+ },
418
+ "cab_corner_3_main_group": {
419
+ "cls": "Box"
420
+ },
421
+ "cab_corner_4_main_group": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_main_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_1_main_group_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "stack_1_main_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_1_main_group_3": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_2_main_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_2_main_group_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "stack_2_main_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_2_main_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "right_corner_box_main_group": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_main_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_3_main_group_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "stack_3_main_group_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_3_main_group_3": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_4_main_group_base": {
464
+ "cls": "Box"
465
+ },
466
+ "stack_4_main_group_1": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_4_main_group_2": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_4_main_group_3": {
473
+ "cls": "Drawer"
474
+ },
475
+ "stack_4_main_group_4": {
476
+ "cls": "Drawer"
477
+ },
478
+ "coffee_machine_main_group": {
479
+ "cls": "CoffeeMachine"
480
+ },
481
+ "knife_block_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "plant_main_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "toaster_main_group": {
488
+ "cls": "Toaster"
489
+ },
490
+ "toaster_oven_main_group": {
491
+ "cls": "ToasterOven"
492
+ },
493
+ "tiered_basket_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "jar_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "paprika_main_group": {
500
+ "cls": "Accessory"
501
+ },
502
+ "cinnamon_main_group": {
503
+ "cls": "Accessory"
504
+ },
505
+ "turmeric_main_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "salt_shaker_main_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "jar_main_group_auxiliary_main_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "salt_shaker_main_group_auxiliary_main_group": {
515
+ "cls": "Accessory"
516
+ },
517
+ "fridge_left_group": {
518
+ "cls": "FridgeFrenchDoor"
519
+ },
520
+ "fridge_housing_left_group": {
521
+ "cls": "HousingCabinet"
522
+ },
523
+ "fridge_top_left_group": {
524
+ "cls": "HingeCabinet"
525
+ },
526
+ "stack_left_left_group_base": {
527
+ "cls": "Box"
528
+ },
529
+ "stack_left_left_group_1": {
530
+ "cls": "SingleCabinet"
531
+ },
532
+ "stack_left_left_group_2": {
533
+ "cls": "SingleCabinet"
534
+ },
535
+ "stack_right_left_group_base": {
536
+ "cls": "Box"
537
+ },
538
+ "stack_right_left_group_1": {
539
+ "cls": "SingleCabinet"
540
+ },
541
+ "stack_right_left_group_2": {
542
+ "cls": "SingleCabinet"
543
+ },
544
+ "box_left_top_left_group": {
545
+ "cls": "Box"
546
+ },
547
+ "box_left_bottom_left_group": {
548
+ "cls": "Box"
549
+ },
550
+ "box_right_top_left_group": {
551
+ "cls": "Box"
552
+ },
553
+ "box_right_bottom_left_group": {
554
+ "cls": "Box"
555
+ },
556
+ "sink_right_group": {
557
+ "cls": "Sink"
558
+ },
559
+ "counter_1_right_group": {
560
+ "cls": "Counter"
561
+ },
562
+ "counter_corner_right_group": {
563
+ "cls": "Counter"
564
+ },
565
+ "stack_1_right_group_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_1_right_group_1": {
569
+ "cls": "HingeCabinet"
570
+ },
571
+ "stack_1_right_group_2": {
572
+ "cls": "PanelCabinet"
573
+ },
574
+ "dishwasher_right_group": {
575
+ "cls": "Dishwasher"
576
+ },
577
+ "stack_2_right_group_base": {
578
+ "cls": "Box"
579
+ },
580
+ "stack_2_right_group_1": {
581
+ "cls": "SingleCabinet"
582
+ },
583
+ "cab_1_right_group": {
584
+ "cls": "HingeCabinet"
585
+ },
586
+ "cab_2_right_group": {
587
+ "cls": "SingleCabinet"
588
+ },
589
+ "soap_dispenser_right_group": {
590
+ "cls": "Accessory"
591
+ },
592
+ "counter_corner_1_front_group": {
593
+ "cls": "Counter"
594
+ },
595
+ "counter_1_front_group": {
596
+ "cls": "Counter"
597
+ },
598
+ "stack_1_front_group_base": {
599
+ "cls": "Box"
600
+ },
601
+ "stack_1_front_group_1": {
602
+ "cls": "HingeCabinet"
603
+ },
604
+ "stack_1_front_group_2": {
605
+ "cls": "Drawer"
606
+ },
607
+ "shelves_front_group": {
608
+ "cls": "OpenCabinet"
609
+ },
610
+ "bottom_front_group_base": {
611
+ "cls": "Box"
612
+ },
613
+ "bottom_front_group_1": {
614
+ "cls": "Drawer"
615
+ },
616
+ "bottom_front_group_2": {
617
+ "cls": "Drawer"
618
+ },
619
+ "cab_middle_front_group": {
620
+ "cls": "HingeCabinet"
621
+ },
622
+ "microwave_front_group": {
623
+ "cls": "Microwave"
624
+ },
625
+ "micro_housing_front_group": {
626
+ "cls": "HousingCabinet"
627
+ },
628
+ "top_front_group": {
629
+ "cls": "HingeCabinet"
630
+ },
631
+ "utensil_set_front_group": {
632
+ "cls": "Accessory"
633
+ },
634
+ "counter_1_dining_area_group": {
635
+ "cls": "Counter"
636
+ },
637
+ "paper_towel_dining_area_group": {
638
+ "cls": "Accessory"
639
+ },
640
+ "fruit_bowl_dining_area_group": {
641
+ "cls": "Accessory"
642
+ }
643
+ },
644
+ "gen_textures": {},
645
+ "lang": "Pick the chicken drumstick and sweet potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
646
+ "fixture_refs": {
647
+ "stool1": "stool_1_room",
648
+ "stool2": "stool_2_room",
649
+ "dining_counter": "counter_1_dining_area_group",
650
+ "fridge": "fridge_left_group"
651
+ },
652
+ "cam_configs": {
653
+ "robot0_agentview_center": {
654
+ "pos": [
655
+ -0.6,
656
+ 0.0,
657
+ 1.15
658
+ ],
659
+ "quat": [
660
+ 0.636945903301239,
661
+ 0.3325185477733612,
662
+ -0.3199238181114197,
663
+ -0.6175596117973328
664
+ ],
665
+ "parent_body": "mobilebase0_support"
666
+ },
667
+ "robot0_agentview_left": {
668
+ "pos": [
669
+ -0.5,
670
+ 0.35,
671
+ 1.05
672
+ ],
673
+ "quat": [
674
+ 0.55623853,
675
+ 0.29935253,
676
+ -0.37678665,
677
+ -0.6775092
678
+ ],
679
+ "camera_attribs": {
680
+ "fovy": "60"
681
+ },
682
+ "parent_body": "mobilebase0_support"
683
+ },
684
+ "robot0_agentview_right": {
685
+ "pos": [
686
+ -0.5,
687
+ -0.35,
688
+ 1.05
689
+ ],
690
+ "quat": [
691
+ 0.6775091886520386,
692
+ 0.3767866790294647,
693
+ -0.2993525564670563,
694
+ -0.55623859167099
695
+ ],
696
+ "camera_attribs": {
697
+ "fovy": "60"
698
+ },
699
+ "parent_body": "mobilebase0_support"
700
+ },
701
+ "robot0_frontview": {
702
+ "pos": [
703
+ -0.5,
704
+ 0,
705
+ 0.95
706
+ ],
707
+ "quat": [
708
+ 0.6088936924934387,
709
+ 0.3814677894115448,
710
+ -0.3673907518386841,
711
+ -0.5905545353889465
712
+ ],
713
+ "camera_attribs": {
714
+ "fovy": "60"
715
+ },
716
+ "parent_body": "mobilebase0_support"
717
+ },
718
+ "robot0_eye_in_hand": {
719
+ "pos": [
720
+ 0.05,
721
+ 0,
722
+ 0
723
+ ],
724
+ "quat": [
725
+ 0,
726
+ 0.707107,
727
+ 0.707107,
728
+ 0
729
+ ],
730
+ "parent_body": "robot0_right_hand"
731
+ }
732
+ },
733
+ "init_robot_base_pos": [
734
+ 4.731018645856721,
735
+ -4.02493578195037,
736
+ 0.0
737
+ ],
738
+ "init_robot_base_ori": [
739
+ 0.0,
740
+ 0.0,
741
+ 7.85388898038469
742
+ ]
743
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000289/ep_meta.json ADDED
@@ -0,0 +1,651 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.1399842052393057,
47
+ 1.6
48
+ ],
49
+ "offset": [
50
+ 0.6550078973803473,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24720248007000004,
98
+ 0.24572606796000004,
99
+ 0.012934327725
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.4399842052305356,
131
+ 1.6
132
+ ],
133
+ "offset": [
134
+ 0.005007897384732285,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "carrot",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1",
165
+ "group1"
166
+ ],
167
+ "groups": [
168
+ "vegetable"
169
+ ],
170
+ "cat": "carrot",
171
+ "split": "test",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
173
+ }
174
+ },
175
+ {
176
+ "name": "bowl",
177
+ "obj_groups": "bowl",
178
+ "graspable": true,
179
+ "placement": {
180
+ "fixture": "island_island_group",
181
+ "sample_region_kwargs": {
182
+ "ref": "stool_2_room",
183
+ "min_size": [
184
+ 0.23981271599999987,
185
+ 0.2399972111999999,
186
+ 0.09829280159999995
187
+ ]
188
+ },
189
+ "size": [
190
+ 1.0,
191
+ 0.4
192
+ ],
193
+ "pos": [
194
+ "ref",
195
+ "ref"
196
+ ]
197
+ },
198
+ "type": "object",
199
+ "info": {
200
+ "groups_containing_sampled_obj": [
201
+ "all",
202
+ "bowl",
203
+ "stackable",
204
+ "receptacle",
205
+ "group1",
206
+ "container_set2"
207
+ ],
208
+ "groups": [
209
+ "bowl"
210
+ ],
211
+ "cat": "bowl",
212
+ "split": "test",
213
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
214
+ },
215
+ "reset_region": {
216
+ "size": [
217
+ 2.4399842052305356,
218
+ 1.6
219
+ ],
220
+ "offset": [
221
+ 0.005007897384732285,
222
+ 0.0,
223
+ 0.46
224
+ ],
225
+ "name": "geom_0"
226
+ }
227
+ },
228
+ {
229
+ "name": "distr1",
230
+ "fridgable": true,
231
+ "placement": {
232
+ "fixture": "fridge_main_group",
233
+ "size": [
234
+ 0.3,
235
+ 0.3
236
+ ],
237
+ "pos": [
238
+ -0.3,
239
+ 1.0
240
+ ]
241
+ },
242
+ "type": "object",
243
+ "info": {
244
+ "groups_containing_sampled_obj": [
245
+ "all",
246
+ "waffle",
247
+ "sweets",
248
+ "food",
249
+ "in_container"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "waffle",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_4/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ -0.0002632047656345171,
261
+ 0.10788939929975168,
262
+ 0.181412742979443
263
+ ],
264
+ "size": [
265
+ 0.7781439843759018,
266
+ 0.5543220166326962
267
+ ],
268
+ "name": "fridge_shelf0"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_main_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "jug_wide_opening",
290
+ "receptacle"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "jug_wide_opening",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_8/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ 5.222870163282267e-05,
302
+ 0.10788939929975168,
303
+ 0.5507136994887958
304
+ ],
305
+ "size": [
306
+ 0.7775131174413674,
307
+ 0.5543220166326962
308
+ ],
309
+ "name": "fridge_shelf1"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_left_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "outlet_room": {
327
+ "cls": "WallAccessory"
328
+ },
329
+ "outlet_2_room": {
330
+ "cls": "WallAccessory"
331
+ },
332
+ "light_switch_room": {
333
+ "cls": "WallAccessory"
334
+ },
335
+ "light_switch_2_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "window_group_room": {
339
+ "cls": "Window"
340
+ },
341
+ "floor_room": {
342
+ "cls": "Floor"
343
+ },
344
+ "floor_backing_room": {
345
+ "cls": "Floor"
346
+ },
347
+ "stool_1_room": {
348
+ "cls": "Stool"
349
+ },
350
+ "stool_2_room": {
351
+ "cls": "Stool"
352
+ },
353
+ "stool_3_room": {
354
+ "cls": "Stool"
355
+ },
356
+ "counter_corner_main_main_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "counter_main_main_group": {
360
+ "cls": "Counter"
361
+ },
362
+ "stovetop_main_group": {
363
+ "cls": "Stovetop"
364
+ },
365
+ "counter_1_right_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "fridge_main_group": {
369
+ "cls": "FridgeFrenchDoor"
370
+ },
371
+ "fridge_housing_main_group": {
372
+ "cls": "HousingCabinet"
373
+ },
374
+ "stack_1_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_1_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_1_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_1_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_main_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_2_main_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "stack_2_main_group_2": {
396
+ "cls": "PanelCabinet"
397
+ },
398
+ "stack_3_main_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_main_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_main_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_main_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "cab_main_main_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "shelves_main_group": {
417
+ "cls": "OpenCabinet"
418
+ },
419
+ "fridge_cab_main_group": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "paper_towel_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "knife_block_main_group": {
426
+ "cls": "Accessory"
427
+ },
428
+ "toaster_main_group": {
429
+ "cls": "Toaster"
430
+ },
431
+ "utensil_set_main_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "jar_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "jar_2_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "glass_cup_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "glass_cup_2_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "jar_main_group_auxiliary_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "jar_2_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "cab_1_left_group": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "cab_2_left_group": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "cab_corner_3_left_group": {
462
+ "cls": "Box"
463
+ },
464
+ "cab_corner_4_left_group": {
465
+ "cls": "Box"
466
+ },
467
+ "sink_left_group": {
468
+ "cls": "Sink"
469
+ },
470
+ "counter_1_left_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "counter_corner_left_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "bottom_left_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "bottom_left_group_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "bottom_left_group_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "oven_left_group": {
486
+ "cls": "Oven"
487
+ },
488
+ "oven_housing_left_group": {
489
+ "cls": "HousingCabinet"
490
+ },
491
+ "microwave_left_group": {
492
+ "cls": "Microwave"
493
+ },
494
+ "micro_housing_left_group": {
495
+ "cls": "HousingCabinet"
496
+ },
497
+ "top_left_group": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "stack_1_left_group": {
501
+ "cls": "SingleCabinet"
502
+ },
503
+ "dishwasher_left_group": {
504
+ "cls": "Dishwasher"
505
+ },
506
+ "stack_2_left_group_base": {
507
+ "cls": "Box"
508
+ },
509
+ "stack_2_left_group_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "stack_2_left_group_2": {
513
+ "cls": "PanelCabinet"
514
+ },
515
+ "stack_3_left_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_3_left_group_1": {
519
+ "cls": "HingeCabinet"
520
+ },
521
+ "stack_3_left_group_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_3_left_group_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "coffee_machine_left_group": {
528
+ "cls": "CoffeeMachine"
529
+ },
530
+ "soap_dispenser_left_group": {
531
+ "cls": "Accessory"
532
+ },
533
+ "tiered_basket_left_group": {
534
+ "cls": "Accessory"
535
+ },
536
+ "island_island_group": {
537
+ "cls": "Counter"
538
+ },
539
+ "plant_island_group": {
540
+ "cls": "Accessory"
541
+ },
542
+ "fruit_bowl_island_group": {
543
+ "cls": "Accessory"
544
+ },
545
+ "salt_shaker_island_group": {
546
+ "cls": "Accessory"
547
+ },
548
+ "salt_shaker_island_group_auxiliary_island_group": {
549
+ "cls": "Accessory"
550
+ }
551
+ },
552
+ "gen_textures": {},
553
+ "lang": "Pick the chicken drumstick and carrot from their plates and place them in the bowl. Then put the bowl in the fridge.",
554
+ "fixture_refs": {
555
+ "stool1": "stool_1_room",
556
+ "stool2": "stool_2_room",
557
+ "dining_counter": "island_island_group",
558
+ "fridge": "fridge_main_group"
559
+ },
560
+ "cam_configs": {
561
+ "robot0_agentview_center": {
562
+ "pos": [
563
+ -0.6,
564
+ 0.0,
565
+ 1.15
566
+ ],
567
+ "quat": [
568
+ 0.636945903301239,
569
+ 0.3325185477733612,
570
+ -0.3199238181114197,
571
+ -0.6175596117973328
572
+ ],
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_agentview_left": {
576
+ "pos": [
577
+ -0.5,
578
+ 0.35,
579
+ 1.05
580
+ ],
581
+ "quat": [
582
+ 0.55623853,
583
+ 0.29935253,
584
+ -0.37678665,
585
+ -0.6775092
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_agentview_right": {
593
+ "pos": [
594
+ -0.5,
595
+ -0.35,
596
+ 1.05
597
+ ],
598
+ "quat": [
599
+ 0.6775091886520386,
600
+ 0.3767866790294647,
601
+ -0.2993525564670563,
602
+ -0.55623859167099
603
+ ],
604
+ "camera_attribs": {
605
+ "fovy": "60"
606
+ },
607
+ "parent_body": "mobilebase0_support"
608
+ },
609
+ "robot0_frontview": {
610
+ "pos": [
611
+ -0.5,
612
+ 0,
613
+ 0.95
614
+ ],
615
+ "quat": [
616
+ 0.6088936924934387,
617
+ 0.3814677894115448,
618
+ -0.3673907518386841,
619
+ -0.5905545353889465
620
+ ],
621
+ "camera_attribs": {
622
+ "fovy": "60"
623
+ },
624
+ "parent_body": "mobilebase0_support"
625
+ },
626
+ "robot0_eye_in_hand": {
627
+ "pos": [
628
+ 0.05,
629
+ 0,
630
+ 0
631
+ ],
632
+ "quat": [
633
+ 0,
634
+ 0.707107,
635
+ 0.707107,
636
+ 0
637
+ ],
638
+ "parent_body": "robot0_right_hand"
639
+ }
640
+ },
641
+ "init_robot_base_pos": [
642
+ 4.012548053758333,
643
+ -3.3258058285987646,
644
+ 0.0
645
+ ],
646
+ "init_robot_base_ori": [
647
+ 0.0,
648
+ 0.0,
649
+ 3.1415889803846895
650
+ ]
651
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000301/ep_meta.json ADDED
@@ -0,0 +1,737 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.2500741284517756,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.6499629357741121,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.232802852625,
98
+ 0.23286639915,
99
+ 0.014759147025
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.549925877128271,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -3.7061435864460535e-05,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "corn",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "corn",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_front_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2399963735999999,
184
+ 0.23998859999999989,
185
+ 0.09870963839999995
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "stackable",
203
+ "receptacle",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.549925877128271,
217
+ 0.65
218
+ ],
219
+ "offset": [
220
+ -3.7061435864460535e-05,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_right_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "orange",
246
+ "fruit",
247
+ "food",
248
+ "in_container",
249
+ "food_set1"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "orange",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_3/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ 0.17173226384380283,
261
+ 0.013289167039569658,
262
+ 0.20678557824266253
263
+ ],
264
+ "size": [
265
+ 0.3785173113362588,
266
+ 0.3935935129768715
267
+ ],
268
+ "name": "fridge_shelf1"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_right_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "onion",
290
+ "vegetable",
291
+ "food",
292
+ "in_container"
293
+ ],
294
+ "groups": [
295
+ "all"
296
+ ],
297
+ "cat": "onion",
298
+ "split": "test",
299
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml"
300
+ },
301
+ "reset_region": {
302
+ "offset": [
303
+ 0.17161175935390083,
304
+ -0.002463421028568155,
305
+ -0.12892606814174665
306
+ ],
307
+ "size": [
308
+ 0.3777878236752896,
309
+ 0.4259307934615755
310
+ ],
311
+ "name": "fridge_shelf0"
312
+ }
313
+ }
314
+ ],
315
+ "fixtures": {
316
+ "wall_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_backing_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_left_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_left_backing_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_right_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "wall_right_backing_room": {
332
+ "cls": "Wall"
333
+ },
334
+ "outlet_room": {
335
+ "cls": "WallAccessory"
336
+ },
337
+ "utensil_rack_room": {
338
+ "cls": "WallAccessory"
339
+ },
340
+ "light_switch_room": {
341
+ "cls": "WallAccessory"
342
+ },
343
+ "light_switch_2_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_2_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "outlet_3_room": {
350
+ "cls": "WallAccessory"
351
+ },
352
+ "window_group_room": {
353
+ "cls": "Window"
354
+ },
355
+ "floor_room": {
356
+ "cls": "Floor"
357
+ },
358
+ "floor_backing_room": {
359
+ "cls": "Floor"
360
+ },
361
+ "stool_1_room": {
362
+ "cls": "Stool"
363
+ },
364
+ "stool_2_room": {
365
+ "cls": "Stool"
366
+ },
367
+ "stool_3_room": {
368
+ "cls": "Stool"
369
+ },
370
+ "counter_corner_main_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "counter_main_main_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "stovetop_main_group": {
377
+ "cls": "Stovetop"
378
+ },
379
+ "counter_1_main_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "counter_corner_2_main_group": {
383
+ "cls": "Counter"
384
+ },
385
+ "cab_corner_main_group": {
386
+ "cls": "Box"
387
+ },
388
+ "cab_corner_2_main_group": {
389
+ "cls": "Box"
390
+ },
391
+ "cab_1_main_group": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_main_main_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_2_main_group": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "shelves_1_main_group": {
401
+ "cls": "OpenCabinet"
402
+ },
403
+ "hood_main_group": {
404
+ "cls": "Hood"
405
+ },
406
+ "shelves_2_main_group": {
407
+ "cls": "OpenCabinet"
408
+ },
409
+ "stack_1_main_group_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_1_main_group_1": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_1_main_group_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_1_main_group_3": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_1_main_group_4": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_2_main_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_2_main_group_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "stack_2_main_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_2_main_group_3": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_3_main_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_3_main_group_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "stack_3_main_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_3_main_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_4_main_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_4_main_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_5_main_group_base": {
455
+ "cls": "Box"
456
+ },
457
+ "stack_5_main_group_1": {
458
+ "cls": "SingleCabinet"
459
+ },
460
+ "stack_5_main_group_2": {
461
+ "cls": "Drawer"
462
+ },
463
+ "coffee_machine_main_group": {
464
+ "cls": "CoffeeMachine"
465
+ },
466
+ "paper_towel_main_group": {
467
+ "cls": "Accessory"
468
+ },
469
+ "toaster_main_group": {
470
+ "cls": "Toaster"
471
+ },
472
+ "toaster_oven_main_group": {
473
+ "cls": "ToasterOven"
474
+ },
475
+ "utensil_set_main_group": {
476
+ "cls": "Accessory"
477
+ },
478
+ "oil_bottle_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "knife_block_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "jar_main_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "cinnamon_main_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "turmeric_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "paprika_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "oil_bottle_main_group_auxiliary_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "jar_main_group_auxiliary_main_group": {
500
+ "cls": "Accessory"
501
+ },
502
+ "counter_1_front_group": {
503
+ "cls": "Counter"
504
+ },
505
+ "counter_corner_front_group": {
506
+ "cls": "Counter"
507
+ },
508
+ "salt_shaker_front_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "salt_shaker_front_group_auxiliary_front_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "counter_corner_left_group": {
515
+ "cls": "Counter"
516
+ },
517
+ "sink_left_group": {
518
+ "cls": "Sink"
519
+ },
520
+ "counter_1_left_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "counter_corner_right_left_group": {
524
+ "cls": "Counter"
525
+ },
526
+ "stack_1_left_group_base": {
527
+ "cls": "Box"
528
+ },
529
+ "stack_1_left_group_1": {
530
+ "cls": "HingeCabinet"
531
+ },
532
+ "stack_1_left_group_2": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_1_left_group_3": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_2_left_group_base": {
539
+ "cls": "Box"
540
+ },
541
+ "stack_2_left_group_1": {
542
+ "cls": "HingeCabinet"
543
+ },
544
+ "dishwasher_left_group": {
545
+ "cls": "Dishwasher"
546
+ },
547
+ "stack_3_left_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_3_left_group_1": {
551
+ "cls": "SingleCabinet"
552
+ },
553
+ "cab_1_left_group": {
554
+ "cls": "HingeCabinet"
555
+ },
556
+ "cab_2_left_group": {
557
+ "cls": "SingleCabinet"
558
+ },
559
+ "plant_left_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "soap_dispenser_left_group": {
563
+ "cls": "Accessory"
564
+ },
565
+ "fruit_bowl_left_group": {
566
+ "cls": "Accessory"
567
+ },
568
+ "stack_left_right_group_base": {
569
+ "cls": "Box"
570
+ },
571
+ "stack_left_right_group_1": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "stack_left_right_group_2": {
575
+ "cls": "SingleCabinet"
576
+ },
577
+ "fridge_right_group": {
578
+ "cls": "FridgeSideBySide"
579
+ },
580
+ "fridge_housing_right_group": {
581
+ "cls": "HousingCabinet"
582
+ },
583
+ "fridge_top_right_group": {
584
+ "cls": "HingeCabinet"
585
+ },
586
+ "stack_right_right_group_base": {
587
+ "cls": "Box"
588
+ },
589
+ "stack_right_right_group_1": {
590
+ "cls": "SingleCabinet"
591
+ },
592
+ "stack_right_right_group_2": {
593
+ "cls": "SingleCabinet"
594
+ },
595
+ "cab_top_corner_right_group": {
596
+ "cls": "Box"
597
+ },
598
+ "bottom_corner_right_group": {
599
+ "cls": "Box"
600
+ },
601
+ "bottom_right_group_base": {
602
+ "cls": "Box"
603
+ },
604
+ "bottom_right_group_1": {
605
+ "cls": "Drawer"
606
+ },
607
+ "bottom_right_group_2": {
608
+ "cls": "Drawer"
609
+ },
610
+ "oven_right_group": {
611
+ "cls": "Oven"
612
+ },
613
+ "oven_housing_right_group": {
614
+ "cls": "HousingCabinet"
615
+ },
616
+ "microwave_right_group": {
617
+ "cls": "Microwave"
618
+ },
619
+ "micro_housing_right_group": {
620
+ "cls": "HousingCabinet"
621
+ },
622
+ "top_right_group": {
623
+ "cls": "HingeCabinet"
624
+ },
625
+ "side_bottom_right_group_base": {
626
+ "cls": "Box"
627
+ },
628
+ "side_bottom_right_group_1": {
629
+ "cls": "Drawer"
630
+ },
631
+ "side_bottom_right_group_2": {
632
+ "cls": "Drawer"
633
+ },
634
+ "side_bottom_right_group_3": {
635
+ "cls": "HingeCabinet"
636
+ }
637
+ },
638
+ "gen_textures": {},
639
+ "lang": "Pick the chicken drumstick and corn from their plates and place them in the bowl. Then put the bowl in the fridge.",
640
+ "fixture_refs": {
641
+ "stool1": "stool_1_room",
642
+ "stool2": "stool_2_room",
643
+ "dining_counter": "counter_1_front_group",
644
+ "fridge": "fridge_right_group"
645
+ },
646
+ "cam_configs": {
647
+ "robot0_agentview_center": {
648
+ "pos": [
649
+ -0.6,
650
+ 0.0,
651
+ 1.15
652
+ ],
653
+ "quat": [
654
+ 0.636945903301239,
655
+ 0.3325185477733612,
656
+ -0.3199238181114197,
657
+ -0.6175596117973328
658
+ ],
659
+ "parent_body": "mobilebase0_support"
660
+ },
661
+ "robot0_agentview_left": {
662
+ "pos": [
663
+ -0.5,
664
+ 0.35,
665
+ 1.05
666
+ ],
667
+ "quat": [
668
+ 0.55623853,
669
+ 0.29935253,
670
+ -0.37678665,
671
+ -0.6775092
672
+ ],
673
+ "camera_attribs": {
674
+ "fovy": "60"
675
+ },
676
+ "parent_body": "mobilebase0_support"
677
+ },
678
+ "robot0_agentview_right": {
679
+ "pos": [
680
+ -0.5,
681
+ -0.35,
682
+ 1.05
683
+ ],
684
+ "quat": [
685
+ 0.6775091886520386,
686
+ 0.3767866790294647,
687
+ -0.2993525564670563,
688
+ -0.55623859167099
689
+ ],
690
+ "camera_attribs": {
691
+ "fovy": "60"
692
+ },
693
+ "parent_body": "mobilebase0_support"
694
+ },
695
+ "robot0_frontview": {
696
+ "pos": [
697
+ -0.5,
698
+ 0,
699
+ 0.95
700
+ ],
701
+ "quat": [
702
+ 0.6088936924934387,
703
+ 0.3814677894115448,
704
+ -0.3673907518386841,
705
+ -0.5905545353889465
706
+ ],
707
+ "camera_attribs": {
708
+ "fovy": "60"
709
+ },
710
+ "parent_body": "mobilebase0_support"
711
+ },
712
+ "robot0_eye_in_hand": {
713
+ "pos": [
714
+ 0.05,
715
+ 0,
716
+ 0
717
+ ],
718
+ "quat": [
719
+ 0,
720
+ 0.707107,
721
+ 0.707107,
722
+ 0
723
+ ],
724
+ "parent_body": "robot0_right_hand"
725
+ }
726
+ },
727
+ "init_robot_base_pos": [
728
+ 2.0931208378024304,
729
+ -4.909337322790618,
730
+ 0.0
731
+ ],
732
+ "init_robot_base_ori": [
733
+ 0.0,
734
+ 0.0,
735
+ 7.85388898038469
736
+ ]
737
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000314/ep_meta.json ADDED
@@ -0,0 +1,651 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24568749157499997,
14
+ 0.24474791709000002,
15
+ 0.03850276869
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.1399842052393057,
47
+ 1.6
48
+ ],
49
+ "offset": [
50
+ 0.6550078973803473,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.244743326685,
98
+ 0.24474403597500002,
99
+ 0.023217144615000004
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.4399842052305356,
131
+ 1.6
132
+ ],
133
+ "offset": [
134
+ 0.005007897384732285,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "squash",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "squash",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "island_island_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.2399963735999999,
183
+ 0.23998859999999989,
184
+ 0.09870963839999995
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "stackable",
202
+ "receptacle",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.4399842052305356,
216
+ 1.6
217
+ ],
218
+ "offset": [
219
+ 0.005007897384732285,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_main_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "liquor",
245
+ "alcohol",
246
+ "drink"
247
+ ],
248
+ "groups": [
249
+ "all"
250
+ ],
251
+ "cat": "liquor",
252
+ "split": "test",
253
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_5/model.xml"
254
+ },
255
+ "reset_region": {
256
+ "offset": [
257
+ -0.0002632047656345171,
258
+ 0.10788939929975168,
259
+ 0.181412742979443
260
+ ],
261
+ "size": [
262
+ 0.7781439843759018,
263
+ 0.5543220166326962
264
+ ],
265
+ "name": "fridge_shelf0"
266
+ }
267
+ },
268
+ {
269
+ "name": "distr2",
270
+ "fridgable": true,
271
+ "placement": {
272
+ "fixture": "fridge_main_group",
273
+ "size": [
274
+ 0.3,
275
+ 0.3
276
+ ],
277
+ "pos": [
278
+ 0.3,
279
+ 1.0
280
+ ]
281
+ },
282
+ "type": "object",
283
+ "info": {
284
+ "groups_containing_sampled_obj": [
285
+ "all",
286
+ "steak",
287
+ "meat",
288
+ "food",
289
+ "in_container",
290
+ "oven_ready"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "steak",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ -0.0002632047656345171,
302
+ 0.10788939929975168,
303
+ 0.181412742979443
304
+ ],
305
+ "size": [
306
+ 0.7781439843759018,
307
+ 0.5543220166326962
308
+ ],
309
+ "name": "fridge_shelf0"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_left_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "outlet_room": {
327
+ "cls": "WallAccessory"
328
+ },
329
+ "outlet_2_room": {
330
+ "cls": "WallAccessory"
331
+ },
332
+ "light_switch_room": {
333
+ "cls": "WallAccessory"
334
+ },
335
+ "light_switch_2_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "window_group_room": {
339
+ "cls": "Window"
340
+ },
341
+ "floor_room": {
342
+ "cls": "Floor"
343
+ },
344
+ "floor_backing_room": {
345
+ "cls": "Floor"
346
+ },
347
+ "stool_1_room": {
348
+ "cls": "Stool"
349
+ },
350
+ "stool_2_room": {
351
+ "cls": "Stool"
352
+ },
353
+ "stool_3_room": {
354
+ "cls": "Stool"
355
+ },
356
+ "counter_corner_main_main_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "counter_main_main_group": {
360
+ "cls": "Counter"
361
+ },
362
+ "stovetop_main_group": {
363
+ "cls": "Stovetop"
364
+ },
365
+ "counter_1_right_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "fridge_main_group": {
369
+ "cls": "FridgeFrenchDoor"
370
+ },
371
+ "fridge_housing_main_group": {
372
+ "cls": "HousingCabinet"
373
+ },
374
+ "stack_1_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_1_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_1_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_1_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_main_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_2_main_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "stack_2_main_group_2": {
396
+ "cls": "PanelCabinet"
397
+ },
398
+ "stack_3_main_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_main_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_main_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_main_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "cab_main_main_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "shelves_main_group": {
417
+ "cls": "OpenCabinet"
418
+ },
419
+ "fridge_cab_main_group": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "paper_towel_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "knife_block_main_group": {
426
+ "cls": "Accessory"
427
+ },
428
+ "toaster_main_group": {
429
+ "cls": "Toaster"
430
+ },
431
+ "utensil_set_main_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "jar_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "jar_2_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "glass_cup_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "glass_cup_2_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "jar_main_group_auxiliary_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "jar_2_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "cab_1_left_group": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "cab_2_left_group": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "cab_corner_3_left_group": {
462
+ "cls": "Box"
463
+ },
464
+ "cab_corner_4_left_group": {
465
+ "cls": "Box"
466
+ },
467
+ "sink_left_group": {
468
+ "cls": "Sink"
469
+ },
470
+ "counter_1_left_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "counter_corner_left_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "bottom_left_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "bottom_left_group_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "bottom_left_group_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "oven_left_group": {
486
+ "cls": "Oven"
487
+ },
488
+ "oven_housing_left_group": {
489
+ "cls": "HousingCabinet"
490
+ },
491
+ "microwave_left_group": {
492
+ "cls": "Microwave"
493
+ },
494
+ "micro_housing_left_group": {
495
+ "cls": "HousingCabinet"
496
+ },
497
+ "top_left_group": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "stack_1_left_group": {
501
+ "cls": "SingleCabinet"
502
+ },
503
+ "dishwasher_left_group": {
504
+ "cls": "Dishwasher"
505
+ },
506
+ "stack_2_left_group_base": {
507
+ "cls": "Box"
508
+ },
509
+ "stack_2_left_group_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "stack_2_left_group_2": {
513
+ "cls": "PanelCabinet"
514
+ },
515
+ "stack_3_left_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_3_left_group_1": {
519
+ "cls": "HingeCabinet"
520
+ },
521
+ "stack_3_left_group_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_3_left_group_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "coffee_machine_left_group": {
528
+ "cls": "CoffeeMachine"
529
+ },
530
+ "soap_dispenser_left_group": {
531
+ "cls": "Accessory"
532
+ },
533
+ "tiered_basket_left_group": {
534
+ "cls": "Accessory"
535
+ },
536
+ "island_island_group": {
537
+ "cls": "Counter"
538
+ },
539
+ "plant_island_group": {
540
+ "cls": "Accessory"
541
+ },
542
+ "fruit_bowl_island_group": {
543
+ "cls": "Accessory"
544
+ },
545
+ "salt_shaker_island_group": {
546
+ "cls": "Accessory"
547
+ },
548
+ "salt_shaker_island_group_auxiliary_island_group": {
549
+ "cls": "Accessory"
550
+ }
551
+ },
552
+ "gen_textures": {},
553
+ "lang": "Pick the chicken drumstick and squash from their plates and place them in the bowl. Then put the bowl in the fridge.",
554
+ "fixture_refs": {
555
+ "stool1": "stool_1_room",
556
+ "stool2": "stool_2_room",
557
+ "dining_counter": "island_island_group",
558
+ "fridge": "fridge_main_group"
559
+ },
560
+ "cam_configs": {
561
+ "robot0_agentview_center": {
562
+ "pos": [
563
+ -0.6,
564
+ 0.0,
565
+ 1.15
566
+ ],
567
+ "quat": [
568
+ 0.636945903301239,
569
+ 0.3325185477733612,
570
+ -0.3199238181114197,
571
+ -0.6175596117973328
572
+ ],
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_agentview_left": {
576
+ "pos": [
577
+ -0.5,
578
+ 0.35,
579
+ 1.05
580
+ ],
581
+ "quat": [
582
+ 0.55623853,
583
+ 0.29935253,
584
+ -0.37678665,
585
+ -0.6775092
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_agentview_right": {
593
+ "pos": [
594
+ -0.5,
595
+ -0.35,
596
+ 1.05
597
+ ],
598
+ "quat": [
599
+ 0.6775091886520386,
600
+ 0.3767866790294647,
601
+ -0.2993525564670563,
602
+ -0.55623859167099
603
+ ],
604
+ "camera_attribs": {
605
+ "fovy": "60"
606
+ },
607
+ "parent_body": "mobilebase0_support"
608
+ },
609
+ "robot0_frontview": {
610
+ "pos": [
611
+ -0.5,
612
+ 0,
613
+ 0.95
614
+ ],
615
+ "quat": [
616
+ 0.6088936924934387,
617
+ 0.3814677894115448,
618
+ -0.3673907518386841,
619
+ -0.5905545353889465
620
+ ],
621
+ "camera_attribs": {
622
+ "fovy": "60"
623
+ },
624
+ "parent_body": "mobilebase0_support"
625
+ },
626
+ "robot0_eye_in_hand": {
627
+ "pos": [
628
+ 0.05,
629
+ 0,
630
+ 0
631
+ ],
632
+ "quat": [
633
+ 0,
634
+ 0.707107,
635
+ 0.707107,
636
+ 0
637
+ ],
638
+ "parent_body": "robot0_right_hand"
639
+ }
640
+ },
641
+ "init_robot_base_pos": [
642
+ 4.026708608270499,
643
+ -3.3026710642597723,
644
+ 0.0
645
+ ],
646
+ "init_robot_base_ori": [
647
+ 0.0,
648
+ 0.0,
649
+ 3.1415889803846895
650
+ ]
651
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000324/ep_meta.json ADDED
@@ -0,0 +1,740 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24720248007000004,
98
+ 0.24572606796000004,
99
+ 0.012934327725
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "corn",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "corn",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_dining_area_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.23981271599999987,
184
+ 0.2399972111999999,
185
+ 0.09829280159999995
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "receptacle",
203
+ "stackable",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.249796168970498,
217
+ 1.0
218
+ ],
219
+ "offset": [
220
+ -0.00010191551475102756,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "chocolate",
246
+ "sweets",
247
+ "food",
248
+ "in_container"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "chocolate",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_5/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.0014527782289688873,
260
+ 0.06958483932993503,
261
+ 0.5474662028803855
262
+ ],
263
+ "size": [
264
+ 0.6856360152799493,
265
+ 0.5182223041537808
266
+ ],
267
+ "name": "fridge_shelf1"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "mayonnaise",
289
+ "condiment"
290
+ ],
291
+ "groups": [
292
+ "all"
293
+ ],
294
+ "cat": "mayonnaise",
295
+ "split": "test",
296
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise008/model.xml"
297
+ },
298
+ "reset_region": {
299
+ "offset": [
300
+ 0.0014527782289688873,
301
+ 0.06981058591882013,
302
+ 0.1844737151775919
303
+ ],
304
+ "size": [
305
+ 0.6856360152799493,
306
+ 0.5172543487964222
307
+ ],
308
+ "name": "fridge_shelf0"
309
+ }
310
+ }
311
+ ],
312
+ "fixtures": {
313
+ "wall_room": {
314
+ "cls": "Wall"
315
+ },
316
+ "wall_backing_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_front_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_front_backing_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_left_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_left_backing_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "wall_left_2_room": {
332
+ "cls": "Wall"
333
+ },
334
+ "wall_2_left_backing_room": {
335
+ "cls": "Wall"
336
+ },
337
+ "wall_right_room": {
338
+ "cls": "Wall"
339
+ },
340
+ "wall_right_backing_room": {
341
+ "cls": "Wall"
342
+ },
343
+ "utensil_rack_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "outlet_2_room": {
350
+ "cls": "WallAccessory"
351
+ },
352
+ "outlet_3_room": {
353
+ "cls": "WallAccessory"
354
+ },
355
+ "light_switch_room": {
356
+ "cls": "WallAccessory"
357
+ },
358
+ "light_switch_2_room": {
359
+ "cls": "WallAccessory"
360
+ },
361
+ "window_group_room": {
362
+ "cls": "Window"
363
+ },
364
+ "floor_room": {
365
+ "cls": "Floor"
366
+ },
367
+ "floor_backing_room": {
368
+ "cls": "Floor"
369
+ },
370
+ "floor_front_room": {
371
+ "cls": "Floor"
372
+ },
373
+ "floor_front_backing_room": {
374
+ "cls": "Floor"
375
+ },
376
+ "stool_1_room": {
377
+ "cls": "Stool"
378
+ },
379
+ "stool_2_room": {
380
+ "cls": "Stool"
381
+ },
382
+ "stool_3_room": {
383
+ "cls": "Stool"
384
+ },
385
+ "counter_corner_1_main_group": {
386
+ "cls": "Counter"
387
+ },
388
+ "counter_main_main_group": {
389
+ "cls": "Counter"
390
+ },
391
+ "stove_main_group": {
392
+ "cls": "Stove"
393
+ },
394
+ "counter_1_main_group": {
395
+ "cls": "Counter"
396
+ },
397
+ "counter_corner_2_main_group": {
398
+ "cls": "Counter"
399
+ },
400
+ "cab_corner_main_group": {
401
+ "cls": "Box"
402
+ },
403
+ "cab_main_main_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_1_main_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "hood_main_group": {
410
+ "cls": "Hood"
411
+ },
412
+ "shelves_main_group": {
413
+ "cls": "OpenCabinet"
414
+ },
415
+ "cab_corner_3_main_group": {
416
+ "cls": "Box"
417
+ },
418
+ "cab_corner_4_main_group": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_1_main_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_main_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_1_main_group_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_1_main_group_3": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_2_main_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_2_main_group_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_2_main_group_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_2_main_group_3": {
443
+ "cls": "Drawer"
444
+ },
445
+ "right_corner_box_main_group": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_main_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_main_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_3_main_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_3_main_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_4_main_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_4_main_group_1": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_4_main_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_4_main_group_3": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_4_main_group_4": {
473
+ "cls": "Drawer"
474
+ },
475
+ "coffee_machine_main_group": {
476
+ "cls": "CoffeeMachine"
477
+ },
478
+ "knife_block_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "plant_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "toaster_main_group": {
485
+ "cls": "Toaster"
486
+ },
487
+ "toaster_oven_main_group": {
488
+ "cls": "ToasterOven"
489
+ },
490
+ "tiered_basket_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "jar_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "paprika_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "cinnamon_main_group": {
500
+ "cls": "Accessory"
501
+ },
502
+ "turmeric_main_group": {
503
+ "cls": "Accessory"
504
+ },
505
+ "salt_shaker_main_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "jar_main_group_auxiliary_main_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "salt_shaker_main_group_auxiliary_main_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "fridge_left_group": {
515
+ "cls": "FridgeFrenchDoor"
516
+ },
517
+ "fridge_housing_left_group": {
518
+ "cls": "HousingCabinet"
519
+ },
520
+ "fridge_top_left_group": {
521
+ "cls": "HingeCabinet"
522
+ },
523
+ "stack_left_left_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_left_left_group_1": {
527
+ "cls": "SingleCabinet"
528
+ },
529
+ "stack_left_left_group_2": {
530
+ "cls": "SingleCabinet"
531
+ },
532
+ "stack_right_left_group_base": {
533
+ "cls": "Box"
534
+ },
535
+ "stack_right_left_group_1": {
536
+ "cls": "SingleCabinet"
537
+ },
538
+ "stack_right_left_group_2": {
539
+ "cls": "SingleCabinet"
540
+ },
541
+ "box_left_top_left_group": {
542
+ "cls": "Box"
543
+ },
544
+ "box_left_bottom_left_group": {
545
+ "cls": "Box"
546
+ },
547
+ "box_right_top_left_group": {
548
+ "cls": "Box"
549
+ },
550
+ "box_right_bottom_left_group": {
551
+ "cls": "Box"
552
+ },
553
+ "sink_right_group": {
554
+ "cls": "Sink"
555
+ },
556
+ "counter_1_right_group": {
557
+ "cls": "Counter"
558
+ },
559
+ "counter_corner_right_group": {
560
+ "cls": "Counter"
561
+ },
562
+ "stack_1_right_group_base": {
563
+ "cls": "Box"
564
+ },
565
+ "stack_1_right_group_1": {
566
+ "cls": "HingeCabinet"
567
+ },
568
+ "stack_1_right_group_2": {
569
+ "cls": "PanelCabinet"
570
+ },
571
+ "dishwasher_right_group": {
572
+ "cls": "Dishwasher"
573
+ },
574
+ "stack_2_right_group_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_2_right_group_1": {
578
+ "cls": "SingleCabinet"
579
+ },
580
+ "cab_1_right_group": {
581
+ "cls": "HingeCabinet"
582
+ },
583
+ "cab_2_right_group": {
584
+ "cls": "SingleCabinet"
585
+ },
586
+ "soap_dispenser_right_group": {
587
+ "cls": "Accessory"
588
+ },
589
+ "counter_corner_1_front_group": {
590
+ "cls": "Counter"
591
+ },
592
+ "counter_1_front_group": {
593
+ "cls": "Counter"
594
+ },
595
+ "stack_1_front_group_base": {
596
+ "cls": "Box"
597
+ },
598
+ "stack_1_front_group_1": {
599
+ "cls": "HingeCabinet"
600
+ },
601
+ "stack_1_front_group_2": {
602
+ "cls": "Drawer"
603
+ },
604
+ "shelves_front_group": {
605
+ "cls": "OpenCabinet"
606
+ },
607
+ "bottom_front_group_base": {
608
+ "cls": "Box"
609
+ },
610
+ "bottom_front_group_1": {
611
+ "cls": "Drawer"
612
+ },
613
+ "bottom_front_group_2": {
614
+ "cls": "Drawer"
615
+ },
616
+ "cab_middle_front_group": {
617
+ "cls": "HingeCabinet"
618
+ },
619
+ "microwave_front_group": {
620
+ "cls": "Microwave"
621
+ },
622
+ "micro_housing_front_group": {
623
+ "cls": "HousingCabinet"
624
+ },
625
+ "top_front_group": {
626
+ "cls": "HingeCabinet"
627
+ },
628
+ "utensil_set_front_group": {
629
+ "cls": "Accessory"
630
+ },
631
+ "counter_1_dining_area_group": {
632
+ "cls": "Counter"
633
+ },
634
+ "paper_towel_dining_area_group": {
635
+ "cls": "Accessory"
636
+ },
637
+ "fruit_bowl_dining_area_group": {
638
+ "cls": "Accessory"
639
+ }
640
+ },
641
+ "gen_textures": {},
642
+ "lang": "Pick the chicken drumstick and corn from their plates and place them in the bowl. Then put the bowl in the fridge.",
643
+ "fixture_refs": {
644
+ "stool1": "stool_1_room",
645
+ "stool2": "stool_2_room",
646
+ "dining_counter": "counter_1_dining_area_group",
647
+ "fridge": "fridge_left_group"
648
+ },
649
+ "cam_configs": {
650
+ "robot0_agentview_center": {
651
+ "pos": [
652
+ -0.6,
653
+ 0.0,
654
+ 1.15
655
+ ],
656
+ "quat": [
657
+ 0.636945903301239,
658
+ 0.3325185477733612,
659
+ -0.3199238181114197,
660
+ -0.6175596117973328
661
+ ],
662
+ "parent_body": "mobilebase0_support"
663
+ },
664
+ "robot0_agentview_left": {
665
+ "pos": [
666
+ -0.5,
667
+ 0.35,
668
+ 1.05
669
+ ],
670
+ "quat": [
671
+ 0.55623853,
672
+ 0.29935253,
673
+ -0.37678665,
674
+ -0.6775092
675
+ ],
676
+ "camera_attribs": {
677
+ "fovy": "60"
678
+ },
679
+ "parent_body": "mobilebase0_support"
680
+ },
681
+ "robot0_agentview_right": {
682
+ "pos": [
683
+ -0.5,
684
+ -0.35,
685
+ 1.05
686
+ ],
687
+ "quat": [
688
+ 0.6775091886520386,
689
+ 0.3767866790294647,
690
+ -0.2993525564670563,
691
+ -0.55623859167099
692
+ ],
693
+ "camera_attribs": {
694
+ "fovy": "60"
695
+ },
696
+ "parent_body": "mobilebase0_support"
697
+ },
698
+ "robot0_frontview": {
699
+ "pos": [
700
+ -0.5,
701
+ 0,
702
+ 0.95
703
+ ],
704
+ "quat": [
705
+ 0.6088936924934387,
706
+ 0.3814677894115448,
707
+ -0.3673907518386841,
708
+ -0.5905545353889465
709
+ ],
710
+ "camera_attribs": {
711
+ "fovy": "60"
712
+ },
713
+ "parent_body": "mobilebase0_support"
714
+ },
715
+ "robot0_eye_in_hand": {
716
+ "pos": [
717
+ 0.05,
718
+ 0,
719
+ 0
720
+ ],
721
+ "quat": [
722
+ 0,
723
+ 0.707107,
724
+ 0.707107,
725
+ 0
726
+ ],
727
+ "parent_body": "robot0_right_hand"
728
+ }
729
+ },
730
+ "init_robot_base_pos": [
731
+ 4.82671373113967,
732
+ -4.045089402091674,
733
+ 0.0
734
+ ],
735
+ "init_robot_base_ori": [
736
+ 0.0,
737
+ 0.0,
738
+ 7.85388898038469
739
+ ]
740
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000331/ep_meta.json ADDED
@@ -0,0 +1,741 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.232802852625,
14
+ 0.23286639915,
15
+ 0.014759147025
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "potato",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1",
165
+ "oven_ready"
166
+ ],
167
+ "groups": [
168
+ "vegetable"
169
+ ],
170
+ "cat": "potato",
171
+ "split": "test",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_6/model.xml"
173
+ }
174
+ },
175
+ {
176
+ "name": "bowl",
177
+ "obj_groups": "bowl",
178
+ "graspable": true,
179
+ "placement": {
180
+ "fixture": "counter_1_dining_area_group",
181
+ "sample_region_kwargs": {
182
+ "ref": "stool_2_room",
183
+ "min_size": [
184
+ 0.2599887809999999,
185
+ 0.2592267287999999,
186
+ 0.07434426739999996
187
+ ]
188
+ },
189
+ "size": [
190
+ 1.0,
191
+ 0.4
192
+ ],
193
+ "pos": [
194
+ "ref",
195
+ "ref"
196
+ ]
197
+ },
198
+ "type": "object",
199
+ "info": {
200
+ "groups_containing_sampled_obj": [
201
+ "all",
202
+ "bowl",
203
+ "stackable",
204
+ "receptacle",
205
+ "group1",
206
+ "container_set2"
207
+ ],
208
+ "groups": [
209
+ "bowl"
210
+ ],
211
+ "cat": "bowl",
212
+ "split": "test",
213
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
214
+ },
215
+ "reset_region": {
216
+ "size": [
217
+ 2.249796168970498,
218
+ 1.0
219
+ ],
220
+ "offset": [
221
+ -0.00010191551475102756,
222
+ 0.0,
223
+ 0.46
224
+ ],
225
+ "name": "geom_0"
226
+ }
227
+ },
228
+ {
229
+ "name": "distr1",
230
+ "fridgable": true,
231
+ "placement": {
232
+ "fixture": "fridge_left_group",
233
+ "size": [
234
+ 0.3,
235
+ 0.3
236
+ ],
237
+ "pos": [
238
+ -0.3,
239
+ 1.0
240
+ ]
241
+ },
242
+ "type": "object",
243
+ "info": {
244
+ "groups_containing_sampled_obj": [
245
+ "all",
246
+ "pitcher",
247
+ "receptacle"
248
+ ],
249
+ "groups": [
250
+ "all"
251
+ ],
252
+ "cat": "pitcher",
253
+ "split": "test",
254
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher016/model.xml"
255
+ },
256
+ "reset_region": {
257
+ "offset": [
258
+ 0.0014527782289688873,
259
+ 0.06981058591882013,
260
+ 0.1844737151775919
261
+ ],
262
+ "size": [
263
+ 0.6856360152799493,
264
+ 0.5172543487964222
265
+ ],
266
+ "name": "fridge_shelf0"
267
+ }
268
+ },
269
+ {
270
+ "name": "distr2",
271
+ "fridgable": true,
272
+ "placement": {
273
+ "fixture": "fridge_left_group",
274
+ "size": [
275
+ 0.3,
276
+ 0.3
277
+ ],
278
+ "pos": [
279
+ 0.3,
280
+ 1.0
281
+ ]
282
+ },
283
+ "type": "object",
284
+ "info": {
285
+ "groups_containing_sampled_obj": [
286
+ "all",
287
+ "croissant",
288
+ "pastry",
289
+ "food",
290
+ "in_container"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "croissant",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ 0.0014527782289688873,
302
+ 0.06981058591882013,
303
+ 0.1844737151775919
304
+ ],
305
+ "size": [
306
+ 0.6856360152799493,
307
+ 0.5172543487964222
308
+ ],
309
+ "name": "fridge_shelf0"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_front_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_front_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_left_backing_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_left_2_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "wall_2_left_backing_room": {
336
+ "cls": "Wall"
337
+ },
338
+ "wall_right_room": {
339
+ "cls": "Wall"
340
+ },
341
+ "wall_right_backing_room": {
342
+ "cls": "Wall"
343
+ },
344
+ "utensil_rack_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "outlet_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "outlet_2_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "outlet_3_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "light_switch_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "light_switch_2_room": {
360
+ "cls": "WallAccessory"
361
+ },
362
+ "window_group_room": {
363
+ "cls": "Window"
364
+ },
365
+ "floor_room": {
366
+ "cls": "Floor"
367
+ },
368
+ "floor_backing_room": {
369
+ "cls": "Floor"
370
+ },
371
+ "floor_front_room": {
372
+ "cls": "Floor"
373
+ },
374
+ "floor_front_backing_room": {
375
+ "cls": "Floor"
376
+ },
377
+ "stool_1_room": {
378
+ "cls": "Stool"
379
+ },
380
+ "stool_2_room": {
381
+ "cls": "Stool"
382
+ },
383
+ "stool_3_room": {
384
+ "cls": "Stool"
385
+ },
386
+ "counter_corner_1_main_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "counter_main_main_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "stove_main_group": {
393
+ "cls": "Stove"
394
+ },
395
+ "counter_1_main_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "counter_corner_2_main_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "cab_corner_main_group": {
402
+ "cls": "Box"
403
+ },
404
+ "cab_main_main_group": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "cab_1_main_group": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "shelves_main_group": {
414
+ "cls": "OpenCabinet"
415
+ },
416
+ "cab_corner_3_main_group": {
417
+ "cls": "Box"
418
+ },
419
+ "cab_corner_4_main_group": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_1_main_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_main_group_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_1_main_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_1_main_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_2_main_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_main_group_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "stack_2_main_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_2_main_group_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "right_corner_box_main_group": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_3_main_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_3_main_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_3_main_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_3_main_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_4_main_group_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_4_main_group_1": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_4_main_group_2": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_4_main_group_3": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_4_main_group_4": {
474
+ "cls": "Drawer"
475
+ },
476
+ "coffee_machine_main_group": {
477
+ "cls": "CoffeeMachine"
478
+ },
479
+ "knife_block_main_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "plant_main_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "toaster_main_group": {
486
+ "cls": "Toaster"
487
+ },
488
+ "toaster_oven_main_group": {
489
+ "cls": "ToasterOven"
490
+ },
491
+ "tiered_basket_main_group": {
492
+ "cls": "Accessory"
493
+ },
494
+ "jar_main_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "paprika_main_group": {
498
+ "cls": "Accessory"
499
+ },
500
+ "cinnamon_main_group": {
501
+ "cls": "Accessory"
502
+ },
503
+ "turmeric_main_group": {
504
+ "cls": "Accessory"
505
+ },
506
+ "salt_shaker_main_group": {
507
+ "cls": "Accessory"
508
+ },
509
+ "jar_main_group_auxiliary_main_group": {
510
+ "cls": "Accessory"
511
+ },
512
+ "salt_shaker_main_group_auxiliary_main_group": {
513
+ "cls": "Accessory"
514
+ },
515
+ "fridge_left_group": {
516
+ "cls": "FridgeFrenchDoor"
517
+ },
518
+ "fridge_housing_left_group": {
519
+ "cls": "HousingCabinet"
520
+ },
521
+ "fridge_top_left_group": {
522
+ "cls": "HingeCabinet"
523
+ },
524
+ "stack_left_left_group_base": {
525
+ "cls": "Box"
526
+ },
527
+ "stack_left_left_group_1": {
528
+ "cls": "SingleCabinet"
529
+ },
530
+ "stack_left_left_group_2": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_right_left_group_base": {
534
+ "cls": "Box"
535
+ },
536
+ "stack_right_left_group_1": {
537
+ "cls": "SingleCabinet"
538
+ },
539
+ "stack_right_left_group_2": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "box_left_top_left_group": {
543
+ "cls": "Box"
544
+ },
545
+ "box_left_bottom_left_group": {
546
+ "cls": "Box"
547
+ },
548
+ "box_right_top_left_group": {
549
+ "cls": "Box"
550
+ },
551
+ "box_right_bottom_left_group": {
552
+ "cls": "Box"
553
+ },
554
+ "sink_right_group": {
555
+ "cls": "Sink"
556
+ },
557
+ "counter_1_right_group": {
558
+ "cls": "Counter"
559
+ },
560
+ "counter_corner_right_group": {
561
+ "cls": "Counter"
562
+ },
563
+ "stack_1_right_group_base": {
564
+ "cls": "Box"
565
+ },
566
+ "stack_1_right_group_1": {
567
+ "cls": "HingeCabinet"
568
+ },
569
+ "stack_1_right_group_2": {
570
+ "cls": "PanelCabinet"
571
+ },
572
+ "dishwasher_right_group": {
573
+ "cls": "Dishwasher"
574
+ },
575
+ "stack_2_right_group_base": {
576
+ "cls": "Box"
577
+ },
578
+ "stack_2_right_group_1": {
579
+ "cls": "SingleCabinet"
580
+ },
581
+ "cab_1_right_group": {
582
+ "cls": "HingeCabinet"
583
+ },
584
+ "cab_2_right_group": {
585
+ "cls": "SingleCabinet"
586
+ },
587
+ "soap_dispenser_right_group": {
588
+ "cls": "Accessory"
589
+ },
590
+ "counter_corner_1_front_group": {
591
+ "cls": "Counter"
592
+ },
593
+ "counter_1_front_group": {
594
+ "cls": "Counter"
595
+ },
596
+ "stack_1_front_group_base": {
597
+ "cls": "Box"
598
+ },
599
+ "stack_1_front_group_1": {
600
+ "cls": "HingeCabinet"
601
+ },
602
+ "stack_1_front_group_2": {
603
+ "cls": "Drawer"
604
+ },
605
+ "shelves_front_group": {
606
+ "cls": "OpenCabinet"
607
+ },
608
+ "bottom_front_group_base": {
609
+ "cls": "Box"
610
+ },
611
+ "bottom_front_group_1": {
612
+ "cls": "Drawer"
613
+ },
614
+ "bottom_front_group_2": {
615
+ "cls": "Drawer"
616
+ },
617
+ "cab_middle_front_group": {
618
+ "cls": "HingeCabinet"
619
+ },
620
+ "microwave_front_group": {
621
+ "cls": "Microwave"
622
+ },
623
+ "micro_housing_front_group": {
624
+ "cls": "HousingCabinet"
625
+ },
626
+ "top_front_group": {
627
+ "cls": "HingeCabinet"
628
+ },
629
+ "utensil_set_front_group": {
630
+ "cls": "Accessory"
631
+ },
632
+ "counter_1_dining_area_group": {
633
+ "cls": "Counter"
634
+ },
635
+ "paper_towel_dining_area_group": {
636
+ "cls": "Accessory"
637
+ },
638
+ "fruit_bowl_dining_area_group": {
639
+ "cls": "Accessory"
640
+ }
641
+ },
642
+ "gen_textures": {},
643
+ "lang": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
644
+ "fixture_refs": {
645
+ "stool1": "stool_1_room",
646
+ "stool2": "stool_2_room",
647
+ "dining_counter": "counter_1_dining_area_group",
648
+ "fridge": "fridge_left_group"
649
+ },
650
+ "cam_configs": {
651
+ "robot0_agentview_center": {
652
+ "pos": [
653
+ -0.6,
654
+ 0.0,
655
+ 1.15
656
+ ],
657
+ "quat": [
658
+ 0.636945903301239,
659
+ 0.3325185477733612,
660
+ -0.3199238181114197,
661
+ -0.6175596117973328
662
+ ],
663
+ "parent_body": "mobilebase0_support"
664
+ },
665
+ "robot0_agentview_left": {
666
+ "pos": [
667
+ -0.5,
668
+ 0.35,
669
+ 1.05
670
+ ],
671
+ "quat": [
672
+ 0.55623853,
673
+ 0.29935253,
674
+ -0.37678665,
675
+ -0.6775092
676
+ ],
677
+ "camera_attribs": {
678
+ "fovy": "60"
679
+ },
680
+ "parent_body": "mobilebase0_support"
681
+ },
682
+ "robot0_agentview_right": {
683
+ "pos": [
684
+ -0.5,
685
+ -0.35,
686
+ 1.05
687
+ ],
688
+ "quat": [
689
+ 0.6775091886520386,
690
+ 0.3767866790294647,
691
+ -0.2993525564670563,
692
+ -0.55623859167099
693
+ ],
694
+ "camera_attribs": {
695
+ "fovy": "60"
696
+ },
697
+ "parent_body": "mobilebase0_support"
698
+ },
699
+ "robot0_frontview": {
700
+ "pos": [
701
+ -0.5,
702
+ 0,
703
+ 0.95
704
+ ],
705
+ "quat": [
706
+ 0.6088936924934387,
707
+ 0.3814677894115448,
708
+ -0.3673907518386841,
709
+ -0.5905545353889465
710
+ ],
711
+ "camera_attribs": {
712
+ "fovy": "60"
713
+ },
714
+ "parent_body": "mobilebase0_support"
715
+ },
716
+ "robot0_eye_in_hand": {
717
+ "pos": [
718
+ 0.05,
719
+ 0,
720
+ 0
721
+ ],
722
+ "quat": [
723
+ 0,
724
+ 0.707107,
725
+ 0.707107,
726
+ 0
727
+ ],
728
+ "parent_body": "robot0_right_hand"
729
+ }
730
+ },
731
+ "init_robot_base_pos": [
732
+ 4.70545859002117,
733
+ -4.041408819480088,
734
+ 0.0
735
+ ],
736
+ "init_robot_base_ori": [
737
+ 0.0,
738
+ 0.0,
739
+ 7.85388898038469
740
+ ]
741
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000333/ep_meta.json ADDED
@@ -0,0 +1,651 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.1399842052393057,
47
+ 1.6
48
+ ],
49
+ "offset": [
50
+ 0.6550078973803473,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "island_island_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24720248007000004,
98
+ 0.24572606796000004,
99
+ 0.012934327725
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.4399842052305356,
131
+ 1.6
132
+ ],
133
+ "offset": [
134
+ 0.005007897384732285,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "broccoli",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "broccoli",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "island_island_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2399963735999999,
184
+ 0.23998859999999989,
185
+ 0.09870963839999995
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "receptacle",
203
+ "stackable",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.4399842052305356,
217
+ 1.6
218
+ ],
219
+ "offset": [
220
+ 0.005007897384732285,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_main_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "fish",
246
+ "meat",
247
+ "food",
248
+ "in_container",
249
+ "oven_ready"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "fish",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ -0.0002632047656345171,
261
+ 0.10788939929975168,
262
+ 0.181412742979443
263
+ ],
264
+ "size": [
265
+ 0.7781439843759018,
266
+ 0.5543220166326962
267
+ ],
268
+ "name": "fridge_shelf0"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_main_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "bar",
290
+ "packaged_food"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "bar",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_4/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ 5.222870163282267e-05,
302
+ 0.10788939929975168,
303
+ 0.5507136994887958
304
+ ],
305
+ "size": [
306
+ 0.7775131174413674,
307
+ 0.5543220166326962
308
+ ],
309
+ "name": "fridge_shelf1"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_left_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "outlet_room": {
327
+ "cls": "WallAccessory"
328
+ },
329
+ "outlet_2_room": {
330
+ "cls": "WallAccessory"
331
+ },
332
+ "light_switch_room": {
333
+ "cls": "WallAccessory"
334
+ },
335
+ "light_switch_2_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "window_group_room": {
339
+ "cls": "Window"
340
+ },
341
+ "floor_room": {
342
+ "cls": "Floor"
343
+ },
344
+ "floor_backing_room": {
345
+ "cls": "Floor"
346
+ },
347
+ "stool_1_room": {
348
+ "cls": "Stool"
349
+ },
350
+ "stool_2_room": {
351
+ "cls": "Stool"
352
+ },
353
+ "stool_3_room": {
354
+ "cls": "Stool"
355
+ },
356
+ "counter_corner_main_main_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "counter_main_main_group": {
360
+ "cls": "Counter"
361
+ },
362
+ "stovetop_main_group": {
363
+ "cls": "Stovetop"
364
+ },
365
+ "counter_1_right_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "fridge_main_group": {
369
+ "cls": "FridgeFrenchDoor"
370
+ },
371
+ "fridge_housing_main_group": {
372
+ "cls": "HousingCabinet"
373
+ },
374
+ "stack_1_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_1_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_1_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_1_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_main_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_2_main_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "stack_2_main_group_2": {
396
+ "cls": "PanelCabinet"
397
+ },
398
+ "stack_3_main_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_main_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_main_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_main_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "cab_main_main_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "shelves_main_group": {
417
+ "cls": "OpenCabinet"
418
+ },
419
+ "fridge_cab_main_group": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "paper_towel_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "knife_block_main_group": {
426
+ "cls": "Accessory"
427
+ },
428
+ "toaster_main_group": {
429
+ "cls": "Toaster"
430
+ },
431
+ "utensil_set_main_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "jar_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "jar_2_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "glass_cup_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "glass_cup_2_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "jar_main_group_auxiliary_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "jar_2_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "cab_1_left_group": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "cab_2_left_group": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "cab_corner_3_left_group": {
462
+ "cls": "Box"
463
+ },
464
+ "cab_corner_4_left_group": {
465
+ "cls": "Box"
466
+ },
467
+ "sink_left_group": {
468
+ "cls": "Sink"
469
+ },
470
+ "counter_1_left_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "counter_corner_left_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "bottom_left_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "bottom_left_group_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "bottom_left_group_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "oven_left_group": {
486
+ "cls": "Oven"
487
+ },
488
+ "oven_housing_left_group": {
489
+ "cls": "HousingCabinet"
490
+ },
491
+ "microwave_left_group": {
492
+ "cls": "Microwave"
493
+ },
494
+ "micro_housing_left_group": {
495
+ "cls": "HousingCabinet"
496
+ },
497
+ "top_left_group": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "stack_1_left_group": {
501
+ "cls": "SingleCabinet"
502
+ },
503
+ "dishwasher_left_group": {
504
+ "cls": "Dishwasher"
505
+ },
506
+ "stack_2_left_group_base": {
507
+ "cls": "Box"
508
+ },
509
+ "stack_2_left_group_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "stack_2_left_group_2": {
513
+ "cls": "PanelCabinet"
514
+ },
515
+ "stack_3_left_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_3_left_group_1": {
519
+ "cls": "HingeCabinet"
520
+ },
521
+ "stack_3_left_group_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_3_left_group_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "coffee_machine_left_group": {
528
+ "cls": "CoffeeMachine"
529
+ },
530
+ "soap_dispenser_left_group": {
531
+ "cls": "Accessory"
532
+ },
533
+ "tiered_basket_left_group": {
534
+ "cls": "Accessory"
535
+ },
536
+ "island_island_group": {
537
+ "cls": "Counter"
538
+ },
539
+ "plant_island_group": {
540
+ "cls": "Accessory"
541
+ },
542
+ "fruit_bowl_island_group": {
543
+ "cls": "Accessory"
544
+ },
545
+ "salt_shaker_island_group": {
546
+ "cls": "Accessory"
547
+ },
548
+ "salt_shaker_island_group_auxiliary_island_group": {
549
+ "cls": "Accessory"
550
+ }
551
+ },
552
+ "gen_textures": {},
553
+ "lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
554
+ "fixture_refs": {
555
+ "stool1": "stool_1_room",
556
+ "stool2": "stool_2_room",
557
+ "dining_counter": "island_island_group",
558
+ "fridge": "fridge_main_group"
559
+ },
560
+ "cam_configs": {
561
+ "robot0_agentview_center": {
562
+ "pos": [
563
+ -0.6,
564
+ 0.0,
565
+ 1.15
566
+ ],
567
+ "quat": [
568
+ 0.636945903301239,
569
+ 0.3325185477733612,
570
+ -0.3199238181114197,
571
+ -0.6175596117973328
572
+ ],
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_agentview_left": {
576
+ "pos": [
577
+ -0.5,
578
+ 0.35,
579
+ 1.05
580
+ ],
581
+ "quat": [
582
+ 0.55623853,
583
+ 0.29935253,
584
+ -0.37678665,
585
+ -0.6775092
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_agentview_right": {
593
+ "pos": [
594
+ -0.5,
595
+ -0.35,
596
+ 1.05
597
+ ],
598
+ "quat": [
599
+ 0.6775091886520386,
600
+ 0.3767866790294647,
601
+ -0.2993525564670563,
602
+ -0.55623859167099
603
+ ],
604
+ "camera_attribs": {
605
+ "fovy": "60"
606
+ },
607
+ "parent_body": "mobilebase0_support"
608
+ },
609
+ "robot0_frontview": {
610
+ "pos": [
611
+ -0.5,
612
+ 0,
613
+ 0.95
614
+ ],
615
+ "quat": [
616
+ 0.6088936924934387,
617
+ 0.3814677894115448,
618
+ -0.3673907518386841,
619
+ -0.5905545353889465
620
+ ],
621
+ "camera_attribs": {
622
+ "fovy": "60"
623
+ },
624
+ "parent_body": "mobilebase0_support"
625
+ },
626
+ "robot0_eye_in_hand": {
627
+ "pos": [
628
+ 0.05,
629
+ 0,
630
+ 0
631
+ ],
632
+ "quat": [
633
+ 0,
634
+ 0.707107,
635
+ 0.707107,
636
+ 0
637
+ ],
638
+ "parent_body": "robot0_right_hand"
639
+ }
640
+ },
641
+ "init_robot_base_pos": [
642
+ 3.969576677236615,
643
+ -3.1012185513709483,
644
+ 0.0
645
+ ],
646
+ "init_robot_base_ori": [
647
+ 0.0,
648
+ 0.0,
649
+ 3.1415889803846895
650
+ ]
651
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000335/ep_meta.json ADDED
@@ -0,0 +1,684 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 8,
3
+ "style_id": 8,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.247940875935,
14
+ 0.24539034402000004,
15
+ 0.01667049282
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.100074126305603,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.3999629368471984,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24720248007000004,
98
+ 0.24572606796000004,
99
+ 0.012934327725
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 1.1999258801329122,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -0.35003705993354384,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "broccoli",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "broccoli",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_front_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2399963735999999,
184
+ 0.23998859999999989,
185
+ 0.09870963839999995
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "receptacle",
203
+ "stackable",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 1.1999258801329122,
217
+ 0.65
218
+ ],
219
+ "offset": [
220
+ -0.35003705993354384,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "squash",
246
+ "vegetable",
247
+ "food",
248
+ "in_container"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "squash",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_16/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.00734478175963188,
260
+ 0.003573956171600376,
261
+ 0.24405273782152556
262
+ ],
263
+ "size": [
264
+ 0.6623975154678047,
265
+ 0.4660752914038736
266
+ ],
267
+ "name": "fridge_shelf0"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "potato",
289
+ "vegetable",
290
+ "food",
291
+ "in_container",
292
+ "food_set1",
293
+ "oven_ready"
294
+ ],
295
+ "groups": [
296
+ "all"
297
+ ],
298
+ "cat": "potato",
299
+ "split": "test",
300
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_7/model.xml"
301
+ },
302
+ "reset_region": {
303
+ "offset": [
304
+ -0.000519890487119562,
305
+ 0.0028797472135973917,
306
+ 0.5483455536926568
307
+ ],
308
+ "size": [
309
+ 0.6781268599613075,
310
+ 0.4671225904746241
311
+ ],
312
+ "name": "fridge_shelf1"
313
+ }
314
+ }
315
+ ],
316
+ "fixtures": {
317
+ "wall_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_backing_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_backing_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_right_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_right_backing_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "outlet_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "outlet_2_room": {
339
+ "cls": "WallAccessory"
340
+ },
341
+ "light_switch_room": {
342
+ "cls": "WallAccessory"
343
+ },
344
+ "light_switch_2_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "utensil_rack_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "window_group_room": {
351
+ "cls": "Window"
352
+ },
353
+ "floor_room": {
354
+ "cls": "Floor"
355
+ },
356
+ "floor_backing_room": {
357
+ "cls": "Floor"
358
+ },
359
+ "stool_1_room": {
360
+ "cls": "Stool"
361
+ },
362
+ "stool_2_room": {
363
+ "cls": "Stool"
364
+ },
365
+ "counter_corner_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "counter_main_main_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "counter_corner_2_main_group": {
372
+ "cls": "Counter"
373
+ },
374
+ "cab_corner_main_group": {
375
+ "cls": "Box"
376
+ },
377
+ "cab_corner_2_main_group": {
378
+ "cls": "Box"
379
+ },
380
+ "cab_main_main_group": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "cab_1_main_group": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "cab_corner_3_main_group": {
387
+ "cls": "Box"
388
+ },
389
+ "cab_corner_4_main_group": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_main_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_main_group_1": {
396
+ "cls": "HingeCabinet"
397
+ },
398
+ "stack_1_main_group_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_1_main_group_3": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_2_main_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_2_main_group_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "stack_2_main_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_2_main_group_3": {
414
+ "cls": "Drawer"
415
+ },
416
+ "stack_3_main_group_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_3_main_group_1": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_main_group_2": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_3_main_group_3": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_3_main_group_4": {
429
+ "cls": "Drawer"
430
+ },
431
+ "toaster_main_group": {
432
+ "cls": "Toaster"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "oil_bottle_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "fruit_bowl_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "knife_block_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "utensil_set_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "paper_towel_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "oil_bottle_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "counter_1_front_group": {
456
+ "cls": "Counter"
457
+ },
458
+ "counter_corner_front_group": {
459
+ "cls": "Counter"
460
+ },
461
+ "counter_1_left_group": {
462
+ "cls": "Counter"
463
+ },
464
+ "stove_left_group": {
465
+ "cls": "Stove"
466
+ },
467
+ "counter_2_left_group": {
468
+ "cls": "Counter"
469
+ },
470
+ "counter_corner_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "fridge_left_group": {
474
+ "cls": "FridgeFrenchDoor"
475
+ },
476
+ "fridge_housing_left_group": {
477
+ "cls": "HousingCabinet"
478
+ },
479
+ "stack_1_left_group_base": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_1_left_group_1": {
483
+ "cls": "SingleCabinet"
484
+ },
485
+ "stack_1_left_group_2": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_2_left_group_base": {
489
+ "cls": "Box"
490
+ },
491
+ "stack_2_left_group_1": {
492
+ "cls": "SingleCabinet"
493
+ },
494
+ "stack_2_left_group_2": {
495
+ "cls": "Drawer"
496
+ },
497
+ "cab_1_left_group": {
498
+ "cls": "SingleCabinet"
499
+ },
500
+ "microwave_left_group": {
501
+ "cls": "Microwave"
502
+ },
503
+ "cab_micro_left_group": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "cab_2_left_group": {
507
+ "cls": "SingleCabinet"
508
+ },
509
+ "cab_3_left_group": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "coffee_machine_left_group": {
513
+ "cls": "CoffeeMachine"
514
+ },
515
+ "salt_shaker_left_group": {
516
+ "cls": "Accessory"
517
+ },
518
+ "salt_shaker_left_group_auxiliary_left_group": {
519
+ "cls": "Accessory"
520
+ },
521
+ "sink_right_group": {
522
+ "cls": "Sink"
523
+ },
524
+ "counter_1_right_group": {
525
+ "cls": "Counter"
526
+ },
527
+ "counter_corner_right_group": {
528
+ "cls": "Counter"
529
+ },
530
+ "counter_corner_2_right_group": {
531
+ "cls": "Counter"
532
+ },
533
+ "stack_1_right_group_base": {
534
+ "cls": "Box"
535
+ },
536
+ "stack_1_right_group_1": {
537
+ "cls": "HingeCabinet"
538
+ },
539
+ "stack_1_right_group_2": {
540
+ "cls": "PanelCabinet"
541
+ },
542
+ "dishwasher_right_group": {
543
+ "cls": "Dishwasher"
544
+ },
545
+ "stack_2_right_group_base": {
546
+ "cls": "Box"
547
+ },
548
+ "stack_2_right_group_1": {
549
+ "cls": "Drawer"
550
+ },
551
+ "stack_2_right_group_2": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_2_right_group_3": {
555
+ "cls": "Drawer"
556
+ },
557
+ "stack_2_right_group_4": {
558
+ "cls": "Drawer"
559
+ },
560
+ "cab_1_right_group": {
561
+ "cls": "HingeCabinet"
562
+ },
563
+ "shelves_right_group": {
564
+ "cls": "OpenCabinet"
565
+ },
566
+ "flower_vase_right_group": {
567
+ "cls": "Accessory"
568
+ },
569
+ "soap_dispenser_right_group": {
570
+ "cls": "Accessory"
571
+ },
572
+ "glass_cup_right_group": {
573
+ "cls": "Accessory"
574
+ },
575
+ "glass_cup_2_right_group": {
576
+ "cls": "Accessory"
577
+ },
578
+ "paprika_right_group": {
579
+ "cls": "Accessory"
580
+ },
581
+ "cinnamon_right_group": {
582
+ "cls": "Accessory"
583
+ }
584
+ },
585
+ "gen_textures": {},
586
+ "lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
587
+ "fixture_refs": {
588
+ "stool1": "stool_1_room",
589
+ "stool2": "stool_2_room",
590
+ "dining_counter": "counter_1_front_group",
591
+ "fridge": "fridge_left_group"
592
+ },
593
+ "cam_configs": {
594
+ "robot0_agentview_center": {
595
+ "pos": [
596
+ -0.6,
597
+ 0.0,
598
+ 1.15
599
+ ],
600
+ "quat": [
601
+ 0.636945903301239,
602
+ 0.3325185477733612,
603
+ -0.3199238181114197,
604
+ -0.6175596117973328
605
+ ],
606
+ "parent_body": "mobilebase0_support"
607
+ },
608
+ "robot0_agentview_left": {
609
+ "pos": [
610
+ -0.5,
611
+ 0.35,
612
+ 1.05
613
+ ],
614
+ "quat": [
615
+ 0.55623853,
616
+ 0.29935253,
617
+ -0.37678665,
618
+ -0.6775092
619
+ ],
620
+ "camera_attribs": {
621
+ "fovy": "60"
622
+ },
623
+ "parent_body": "mobilebase0_support"
624
+ },
625
+ "robot0_agentview_right": {
626
+ "pos": [
627
+ -0.5,
628
+ -0.35,
629
+ 1.05
630
+ ],
631
+ "quat": [
632
+ 0.6775091886520386,
633
+ 0.3767866790294647,
634
+ -0.2993525564670563,
635
+ -0.55623859167099
636
+ ],
637
+ "camera_attribs": {
638
+ "fovy": "60"
639
+ },
640
+ "parent_body": "mobilebase0_support"
641
+ },
642
+ "robot0_frontview": {
643
+ "pos": [
644
+ -0.5,
645
+ 0,
646
+ 0.95
647
+ ],
648
+ "quat": [
649
+ 0.6088936924934387,
650
+ 0.3814677894115448,
651
+ -0.3673907518386841,
652
+ -0.5905545353889465
653
+ ],
654
+ "camera_attribs": {
655
+ "fovy": "60"
656
+ },
657
+ "parent_body": "mobilebase0_support"
658
+ },
659
+ "robot0_eye_in_hand": {
660
+ "pos": [
661
+ 0.05,
662
+ 0,
663
+ 0
664
+ ],
665
+ "quat": [
666
+ 0,
667
+ 0.707107,
668
+ 0.707107,
669
+ 0
670
+ ],
671
+ "parent_body": "robot0_right_hand"
672
+ }
673
+ },
674
+ "init_robot_base_pos": [
675
+ 2.8084402447934536,
676
+ -4.007116465459881,
677
+ 0.0
678
+ ],
679
+ "init_robot_base_ori": [
680
+ 0.0,
681
+ 0.0,
682
+ 7.85388898038469
683
+ ]
684
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000344/ep_meta.json ADDED
@@ -0,0 +1,737 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.2500741284517756,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.6499629357741121,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.244743326685,
98
+ 0.24474403597500002,
99
+ 0.023217144615000004
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.549925877128271,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -3.7061435864460535e-05,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "potato",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1",
165
+ "oven_ready"
166
+ ],
167
+ "groups": [
168
+ "vegetable"
169
+ ],
170
+ "cat": "potato",
171
+ "split": "test",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
173
+ }
174
+ },
175
+ {
176
+ "name": "bowl",
177
+ "obj_groups": "bowl",
178
+ "graspable": true,
179
+ "placement": {
180
+ "fixture": "counter_1_front_group",
181
+ "sample_region_kwargs": {
182
+ "ref": "stool_2_room",
183
+ "min_size": [
184
+ 0.2599887809999999,
185
+ 0.2592267287999999,
186
+ 0.07434426739999996
187
+ ]
188
+ },
189
+ "size": [
190
+ 1.0,
191
+ 0.4
192
+ ],
193
+ "pos": [
194
+ "ref",
195
+ "ref"
196
+ ]
197
+ },
198
+ "type": "object",
199
+ "info": {
200
+ "groups_containing_sampled_obj": [
201
+ "all",
202
+ "bowl",
203
+ "receptacle",
204
+ "stackable",
205
+ "group1",
206
+ "container_set2"
207
+ ],
208
+ "groups": [
209
+ "bowl"
210
+ ],
211
+ "cat": "bowl",
212
+ "split": "test",
213
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
214
+ },
215
+ "reset_region": {
216
+ "size": [
217
+ 2.549925877128271,
218
+ 0.65
219
+ ],
220
+ "offset": [
221
+ -3.7061435864460535e-05,
222
+ 0.0,
223
+ 0.46
224
+ ],
225
+ "name": "geom_0"
226
+ }
227
+ },
228
+ {
229
+ "name": "distr1",
230
+ "fridgable": true,
231
+ "placement": {
232
+ "fixture": "fridge_right_group",
233
+ "size": [
234
+ 0.3,
235
+ 0.3
236
+ ],
237
+ "pos": [
238
+ -0.3,
239
+ 1.0
240
+ ]
241
+ },
242
+ "type": "object",
243
+ "info": {
244
+ "groups_containing_sampled_obj": [
245
+ "all",
246
+ "lettuce",
247
+ "vegetable",
248
+ "food",
249
+ "in_container"
250
+ ],
251
+ "groups": [
252
+ "all"
253
+ ],
254
+ "cat": "lettuce",
255
+ "split": "test",
256
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml"
257
+ },
258
+ "reset_region": {
259
+ "offset": [
260
+ 0.17161175935390083,
261
+ -0.002463421028568155,
262
+ -0.12892606814174665
263
+ ],
264
+ "size": [
265
+ 0.3777878236752896,
266
+ 0.4259307934615755
267
+ ],
268
+ "name": "fridge_shelf0"
269
+ }
270
+ },
271
+ {
272
+ "name": "distr2",
273
+ "fridgable": true,
274
+ "placement": {
275
+ "fixture": "fridge_right_group",
276
+ "size": [
277
+ 0.3,
278
+ 0.3
279
+ ],
280
+ "pos": [
281
+ 0.3,
282
+ 1.0
283
+ ]
284
+ },
285
+ "type": "object",
286
+ "info": {
287
+ "groups_containing_sampled_obj": [
288
+ "all",
289
+ "cupcake",
290
+ "sweets",
291
+ "food",
292
+ "in_container"
293
+ ],
294
+ "groups": [
295
+ "all"
296
+ ],
297
+ "cat": "cupcake",
298
+ "split": "test",
299
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_7/model.xml"
300
+ },
301
+ "reset_region": {
302
+ "offset": [
303
+ 0.17161175935390083,
304
+ -0.002463421028568155,
305
+ -0.12892606814174665
306
+ ],
307
+ "size": [
308
+ 0.3777878236752896,
309
+ 0.4259307934615755
310
+ ],
311
+ "name": "fridge_shelf0"
312
+ }
313
+ }
314
+ ],
315
+ "fixtures": {
316
+ "wall_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_backing_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_left_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_left_backing_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_right_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "wall_right_backing_room": {
332
+ "cls": "Wall"
333
+ },
334
+ "outlet_room": {
335
+ "cls": "WallAccessory"
336
+ },
337
+ "utensil_rack_room": {
338
+ "cls": "WallAccessory"
339
+ },
340
+ "light_switch_room": {
341
+ "cls": "WallAccessory"
342
+ },
343
+ "light_switch_2_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_2_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "outlet_3_room": {
350
+ "cls": "WallAccessory"
351
+ },
352
+ "window_group_room": {
353
+ "cls": "Window"
354
+ },
355
+ "floor_room": {
356
+ "cls": "Floor"
357
+ },
358
+ "floor_backing_room": {
359
+ "cls": "Floor"
360
+ },
361
+ "stool_1_room": {
362
+ "cls": "Stool"
363
+ },
364
+ "stool_2_room": {
365
+ "cls": "Stool"
366
+ },
367
+ "stool_3_room": {
368
+ "cls": "Stool"
369
+ },
370
+ "counter_corner_main_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "counter_main_main_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "stovetop_main_group": {
377
+ "cls": "Stovetop"
378
+ },
379
+ "counter_1_main_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "counter_corner_2_main_group": {
383
+ "cls": "Counter"
384
+ },
385
+ "cab_corner_main_group": {
386
+ "cls": "Box"
387
+ },
388
+ "cab_corner_2_main_group": {
389
+ "cls": "Box"
390
+ },
391
+ "cab_1_main_group": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_main_main_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_2_main_group": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "shelves_1_main_group": {
401
+ "cls": "OpenCabinet"
402
+ },
403
+ "hood_main_group": {
404
+ "cls": "Hood"
405
+ },
406
+ "shelves_2_main_group": {
407
+ "cls": "OpenCabinet"
408
+ },
409
+ "stack_1_main_group_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_1_main_group_1": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_1_main_group_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_1_main_group_3": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_1_main_group_4": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_2_main_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_2_main_group_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "stack_2_main_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_2_main_group_3": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_3_main_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_3_main_group_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "stack_3_main_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_3_main_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_4_main_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_4_main_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_5_main_group_base": {
455
+ "cls": "Box"
456
+ },
457
+ "stack_5_main_group_1": {
458
+ "cls": "SingleCabinet"
459
+ },
460
+ "stack_5_main_group_2": {
461
+ "cls": "Drawer"
462
+ },
463
+ "coffee_machine_main_group": {
464
+ "cls": "CoffeeMachine"
465
+ },
466
+ "paper_towel_main_group": {
467
+ "cls": "Accessory"
468
+ },
469
+ "toaster_main_group": {
470
+ "cls": "Toaster"
471
+ },
472
+ "toaster_oven_main_group": {
473
+ "cls": "ToasterOven"
474
+ },
475
+ "utensil_set_main_group": {
476
+ "cls": "Accessory"
477
+ },
478
+ "oil_bottle_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "knife_block_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "jar_main_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "cinnamon_main_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "turmeric_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "paprika_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "oil_bottle_main_group_auxiliary_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "jar_main_group_auxiliary_main_group": {
500
+ "cls": "Accessory"
501
+ },
502
+ "counter_1_front_group": {
503
+ "cls": "Counter"
504
+ },
505
+ "counter_corner_front_group": {
506
+ "cls": "Counter"
507
+ },
508
+ "salt_shaker_front_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "salt_shaker_front_group_auxiliary_front_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "counter_corner_left_group": {
515
+ "cls": "Counter"
516
+ },
517
+ "sink_left_group": {
518
+ "cls": "Sink"
519
+ },
520
+ "counter_1_left_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "counter_corner_right_left_group": {
524
+ "cls": "Counter"
525
+ },
526
+ "stack_1_left_group_base": {
527
+ "cls": "Box"
528
+ },
529
+ "stack_1_left_group_1": {
530
+ "cls": "HingeCabinet"
531
+ },
532
+ "stack_1_left_group_2": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_1_left_group_3": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_2_left_group_base": {
539
+ "cls": "Box"
540
+ },
541
+ "stack_2_left_group_1": {
542
+ "cls": "HingeCabinet"
543
+ },
544
+ "dishwasher_left_group": {
545
+ "cls": "Dishwasher"
546
+ },
547
+ "stack_3_left_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_3_left_group_1": {
551
+ "cls": "SingleCabinet"
552
+ },
553
+ "cab_1_left_group": {
554
+ "cls": "HingeCabinet"
555
+ },
556
+ "cab_2_left_group": {
557
+ "cls": "SingleCabinet"
558
+ },
559
+ "plant_left_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "soap_dispenser_left_group": {
563
+ "cls": "Accessory"
564
+ },
565
+ "fruit_bowl_left_group": {
566
+ "cls": "Accessory"
567
+ },
568
+ "stack_left_right_group_base": {
569
+ "cls": "Box"
570
+ },
571
+ "stack_left_right_group_1": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "stack_left_right_group_2": {
575
+ "cls": "SingleCabinet"
576
+ },
577
+ "fridge_right_group": {
578
+ "cls": "FridgeSideBySide"
579
+ },
580
+ "fridge_housing_right_group": {
581
+ "cls": "HousingCabinet"
582
+ },
583
+ "fridge_top_right_group": {
584
+ "cls": "HingeCabinet"
585
+ },
586
+ "stack_right_right_group_base": {
587
+ "cls": "Box"
588
+ },
589
+ "stack_right_right_group_1": {
590
+ "cls": "SingleCabinet"
591
+ },
592
+ "stack_right_right_group_2": {
593
+ "cls": "SingleCabinet"
594
+ },
595
+ "cab_top_corner_right_group": {
596
+ "cls": "Box"
597
+ },
598
+ "bottom_corner_right_group": {
599
+ "cls": "Box"
600
+ },
601
+ "bottom_right_group_base": {
602
+ "cls": "Box"
603
+ },
604
+ "bottom_right_group_1": {
605
+ "cls": "Drawer"
606
+ },
607
+ "bottom_right_group_2": {
608
+ "cls": "Drawer"
609
+ },
610
+ "oven_right_group": {
611
+ "cls": "Oven"
612
+ },
613
+ "oven_housing_right_group": {
614
+ "cls": "HousingCabinet"
615
+ },
616
+ "microwave_right_group": {
617
+ "cls": "Microwave"
618
+ },
619
+ "micro_housing_right_group": {
620
+ "cls": "HousingCabinet"
621
+ },
622
+ "top_right_group": {
623
+ "cls": "HingeCabinet"
624
+ },
625
+ "side_bottom_right_group_base": {
626
+ "cls": "Box"
627
+ },
628
+ "side_bottom_right_group_1": {
629
+ "cls": "Drawer"
630
+ },
631
+ "side_bottom_right_group_2": {
632
+ "cls": "Drawer"
633
+ },
634
+ "side_bottom_right_group_3": {
635
+ "cls": "HingeCabinet"
636
+ }
637
+ },
638
+ "gen_textures": {},
639
+ "lang": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
640
+ "fixture_refs": {
641
+ "stool1": "stool_1_room",
642
+ "stool2": "stool_2_room",
643
+ "dining_counter": "counter_1_front_group",
644
+ "fridge": "fridge_right_group"
645
+ },
646
+ "cam_configs": {
647
+ "robot0_agentview_center": {
648
+ "pos": [
649
+ -0.6,
650
+ 0.0,
651
+ 1.15
652
+ ],
653
+ "quat": [
654
+ 0.636945903301239,
655
+ 0.3325185477733612,
656
+ -0.3199238181114197,
657
+ -0.6175596117973328
658
+ ],
659
+ "parent_body": "mobilebase0_support"
660
+ },
661
+ "robot0_agentview_left": {
662
+ "pos": [
663
+ -0.5,
664
+ 0.35,
665
+ 1.05
666
+ ],
667
+ "quat": [
668
+ 0.55623853,
669
+ 0.29935253,
670
+ -0.37678665,
671
+ -0.6775092
672
+ ],
673
+ "camera_attribs": {
674
+ "fovy": "60"
675
+ },
676
+ "parent_body": "mobilebase0_support"
677
+ },
678
+ "robot0_agentview_right": {
679
+ "pos": [
680
+ -0.5,
681
+ -0.35,
682
+ 1.05
683
+ ],
684
+ "quat": [
685
+ 0.6775091886520386,
686
+ 0.3767866790294647,
687
+ -0.2993525564670563,
688
+ -0.55623859167099
689
+ ],
690
+ "camera_attribs": {
691
+ "fovy": "60"
692
+ },
693
+ "parent_body": "mobilebase0_support"
694
+ },
695
+ "robot0_frontview": {
696
+ "pos": [
697
+ -0.5,
698
+ 0,
699
+ 0.95
700
+ ],
701
+ "quat": [
702
+ 0.6088936924934387,
703
+ 0.3814677894115448,
704
+ -0.3673907518386841,
705
+ -0.5905545353889465
706
+ ],
707
+ "camera_attribs": {
708
+ "fovy": "60"
709
+ },
710
+ "parent_body": "mobilebase0_support"
711
+ },
712
+ "robot0_eye_in_hand": {
713
+ "pos": [
714
+ 0.05,
715
+ 0,
716
+ 0
717
+ ],
718
+ "quat": [
719
+ 0,
720
+ 0.707107,
721
+ 0.707107,
722
+ 0
723
+ ],
724
+ "parent_body": "robot0_right_hand"
725
+ }
726
+ },
727
+ "init_robot_base_pos": [
728
+ 2.1190705194013675,
729
+ -4.820185622975246,
730
+ 0.0
731
+ ],
732
+ "init_robot_base_ori": [
733
+ 0.0,
734
+ 0.0,
735
+ 7.85388898038469
736
+ ]
737
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000379/ep_meta.json ADDED
@@ -0,0 +1,741 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24568749157499997,
98
+ 0.24474791709000002,
99
+ 0.03850276869
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "broccoli",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "broccoli",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_dining_area_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.2599940797999999,
184
+ 0.2599929331999999,
185
+ 0.08604590539999997
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "stackable",
203
+ "receptacle",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 2.249796168970498,
217
+ 1.0
218
+ ],
219
+ "offset": [
220
+ -0.00010191551475102756,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "sandwich_bread",
246
+ "bread_food",
247
+ "food",
248
+ "in_container"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "sandwich_bread",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.0014527782289688873,
260
+ 0.06981058591882013,
261
+ 0.1844737151775919
262
+ ],
263
+ "size": [
264
+ 0.6856360152799493,
265
+ 0.5172543487964222
266
+ ],
267
+ "name": "fridge_shelf0"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "beer",
289
+ "alcohol",
290
+ "drink"
291
+ ],
292
+ "groups": [
293
+ "all"
294
+ ],
295
+ "cat": "beer",
296
+ "split": "test",
297
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_8/model.xml"
298
+ },
299
+ "reset_region": {
300
+ "offset": [
301
+ 0.0014527782289688873,
302
+ 0.06958483932993503,
303
+ 0.5474662028803855
304
+ ],
305
+ "size": [
306
+ 0.6856360152799493,
307
+ 0.5182223041537808
308
+ ],
309
+ "name": "fridge_shelf1"
310
+ }
311
+ }
312
+ ],
313
+ "fixtures": {
314
+ "wall_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_front_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_front_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_left_backing_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_left_2_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "wall_2_left_backing_room": {
336
+ "cls": "Wall"
337
+ },
338
+ "wall_right_room": {
339
+ "cls": "Wall"
340
+ },
341
+ "wall_right_backing_room": {
342
+ "cls": "Wall"
343
+ },
344
+ "utensil_rack_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "outlet_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "outlet_2_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "outlet_3_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "light_switch_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "light_switch_2_room": {
360
+ "cls": "WallAccessory"
361
+ },
362
+ "window_group_room": {
363
+ "cls": "Window"
364
+ },
365
+ "floor_room": {
366
+ "cls": "Floor"
367
+ },
368
+ "floor_backing_room": {
369
+ "cls": "Floor"
370
+ },
371
+ "floor_front_room": {
372
+ "cls": "Floor"
373
+ },
374
+ "floor_front_backing_room": {
375
+ "cls": "Floor"
376
+ },
377
+ "stool_1_room": {
378
+ "cls": "Stool"
379
+ },
380
+ "stool_2_room": {
381
+ "cls": "Stool"
382
+ },
383
+ "stool_3_room": {
384
+ "cls": "Stool"
385
+ },
386
+ "counter_corner_1_main_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "counter_main_main_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "stove_main_group": {
393
+ "cls": "Stove"
394
+ },
395
+ "counter_1_main_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "counter_corner_2_main_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "cab_corner_main_group": {
402
+ "cls": "Box"
403
+ },
404
+ "cab_main_main_group": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "cab_1_main_group": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "hood_main_group": {
411
+ "cls": "Hood"
412
+ },
413
+ "shelves_main_group": {
414
+ "cls": "OpenCabinet"
415
+ },
416
+ "cab_corner_3_main_group": {
417
+ "cls": "Box"
418
+ },
419
+ "cab_corner_4_main_group": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_1_main_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_main_group_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_1_main_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_1_main_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_2_main_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_main_group_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "stack_2_main_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_2_main_group_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "right_corner_box_main_group": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_3_main_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_3_main_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_3_main_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_3_main_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_4_main_group_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_4_main_group_1": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_4_main_group_2": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_4_main_group_3": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_4_main_group_4": {
474
+ "cls": "Drawer"
475
+ },
476
+ "coffee_machine_main_group": {
477
+ "cls": "CoffeeMachine"
478
+ },
479
+ "knife_block_main_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "plant_main_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "toaster_main_group": {
486
+ "cls": "Toaster"
487
+ },
488
+ "toaster_oven_main_group": {
489
+ "cls": "ToasterOven"
490
+ },
491
+ "tiered_basket_main_group": {
492
+ "cls": "Accessory"
493
+ },
494
+ "jar_main_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "paprika_main_group": {
498
+ "cls": "Accessory"
499
+ },
500
+ "cinnamon_main_group": {
501
+ "cls": "Accessory"
502
+ },
503
+ "turmeric_main_group": {
504
+ "cls": "Accessory"
505
+ },
506
+ "salt_shaker_main_group": {
507
+ "cls": "Accessory"
508
+ },
509
+ "jar_main_group_auxiliary_main_group": {
510
+ "cls": "Accessory"
511
+ },
512
+ "salt_shaker_main_group_auxiliary_main_group": {
513
+ "cls": "Accessory"
514
+ },
515
+ "fridge_left_group": {
516
+ "cls": "FridgeFrenchDoor"
517
+ },
518
+ "fridge_housing_left_group": {
519
+ "cls": "HousingCabinet"
520
+ },
521
+ "fridge_top_left_group": {
522
+ "cls": "HingeCabinet"
523
+ },
524
+ "stack_left_left_group_base": {
525
+ "cls": "Box"
526
+ },
527
+ "stack_left_left_group_1": {
528
+ "cls": "SingleCabinet"
529
+ },
530
+ "stack_left_left_group_2": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_right_left_group_base": {
534
+ "cls": "Box"
535
+ },
536
+ "stack_right_left_group_1": {
537
+ "cls": "SingleCabinet"
538
+ },
539
+ "stack_right_left_group_2": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "box_left_top_left_group": {
543
+ "cls": "Box"
544
+ },
545
+ "box_left_bottom_left_group": {
546
+ "cls": "Box"
547
+ },
548
+ "box_right_top_left_group": {
549
+ "cls": "Box"
550
+ },
551
+ "box_right_bottom_left_group": {
552
+ "cls": "Box"
553
+ },
554
+ "sink_right_group": {
555
+ "cls": "Sink"
556
+ },
557
+ "counter_1_right_group": {
558
+ "cls": "Counter"
559
+ },
560
+ "counter_corner_right_group": {
561
+ "cls": "Counter"
562
+ },
563
+ "stack_1_right_group_base": {
564
+ "cls": "Box"
565
+ },
566
+ "stack_1_right_group_1": {
567
+ "cls": "HingeCabinet"
568
+ },
569
+ "stack_1_right_group_2": {
570
+ "cls": "PanelCabinet"
571
+ },
572
+ "dishwasher_right_group": {
573
+ "cls": "Dishwasher"
574
+ },
575
+ "stack_2_right_group_base": {
576
+ "cls": "Box"
577
+ },
578
+ "stack_2_right_group_1": {
579
+ "cls": "SingleCabinet"
580
+ },
581
+ "cab_1_right_group": {
582
+ "cls": "HingeCabinet"
583
+ },
584
+ "cab_2_right_group": {
585
+ "cls": "SingleCabinet"
586
+ },
587
+ "soap_dispenser_right_group": {
588
+ "cls": "Accessory"
589
+ },
590
+ "counter_corner_1_front_group": {
591
+ "cls": "Counter"
592
+ },
593
+ "counter_1_front_group": {
594
+ "cls": "Counter"
595
+ },
596
+ "stack_1_front_group_base": {
597
+ "cls": "Box"
598
+ },
599
+ "stack_1_front_group_1": {
600
+ "cls": "HingeCabinet"
601
+ },
602
+ "stack_1_front_group_2": {
603
+ "cls": "Drawer"
604
+ },
605
+ "shelves_front_group": {
606
+ "cls": "OpenCabinet"
607
+ },
608
+ "bottom_front_group_base": {
609
+ "cls": "Box"
610
+ },
611
+ "bottom_front_group_1": {
612
+ "cls": "Drawer"
613
+ },
614
+ "bottom_front_group_2": {
615
+ "cls": "Drawer"
616
+ },
617
+ "cab_middle_front_group": {
618
+ "cls": "HingeCabinet"
619
+ },
620
+ "microwave_front_group": {
621
+ "cls": "Microwave"
622
+ },
623
+ "micro_housing_front_group": {
624
+ "cls": "HousingCabinet"
625
+ },
626
+ "top_front_group": {
627
+ "cls": "HingeCabinet"
628
+ },
629
+ "utensil_set_front_group": {
630
+ "cls": "Accessory"
631
+ },
632
+ "counter_1_dining_area_group": {
633
+ "cls": "Counter"
634
+ },
635
+ "paper_towel_dining_area_group": {
636
+ "cls": "Accessory"
637
+ },
638
+ "fruit_bowl_dining_area_group": {
639
+ "cls": "Accessory"
640
+ }
641
+ },
642
+ "gen_textures": {},
643
+ "lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
644
+ "fixture_refs": {
645
+ "stool1": "stool_1_room",
646
+ "stool2": "stool_2_room",
647
+ "dining_counter": "counter_1_dining_area_group",
648
+ "fridge": "fridge_left_group"
649
+ },
650
+ "cam_configs": {
651
+ "robot0_agentview_center": {
652
+ "pos": [
653
+ -0.6,
654
+ 0.0,
655
+ 1.15
656
+ ],
657
+ "quat": [
658
+ 0.636945903301239,
659
+ 0.3325185477733612,
660
+ -0.3199238181114197,
661
+ -0.6175596117973328
662
+ ],
663
+ "parent_body": "mobilebase0_support"
664
+ },
665
+ "robot0_agentview_left": {
666
+ "pos": [
667
+ -0.5,
668
+ 0.35,
669
+ 1.05
670
+ ],
671
+ "quat": [
672
+ 0.55623853,
673
+ 0.29935253,
674
+ -0.37678665,
675
+ -0.6775092
676
+ ],
677
+ "camera_attribs": {
678
+ "fovy": "60"
679
+ },
680
+ "parent_body": "mobilebase0_support"
681
+ },
682
+ "robot0_agentview_right": {
683
+ "pos": [
684
+ -0.5,
685
+ -0.35,
686
+ 1.05
687
+ ],
688
+ "quat": [
689
+ 0.6775091886520386,
690
+ 0.3767866790294647,
691
+ -0.2993525564670563,
692
+ -0.55623859167099
693
+ ],
694
+ "camera_attribs": {
695
+ "fovy": "60"
696
+ },
697
+ "parent_body": "mobilebase0_support"
698
+ },
699
+ "robot0_frontview": {
700
+ "pos": [
701
+ -0.5,
702
+ 0,
703
+ 0.95
704
+ ],
705
+ "quat": [
706
+ 0.6088936924934387,
707
+ 0.3814677894115448,
708
+ -0.3673907518386841,
709
+ -0.5905545353889465
710
+ ],
711
+ "camera_attribs": {
712
+ "fovy": "60"
713
+ },
714
+ "parent_body": "mobilebase0_support"
715
+ },
716
+ "robot0_eye_in_hand": {
717
+ "pos": [
718
+ 0.05,
719
+ 0,
720
+ 0
721
+ ],
722
+ "quat": [
723
+ 0,
724
+ 0.707107,
725
+ 0.707107,
726
+ 0
727
+ ],
728
+ "parent_body": "robot0_right_hand"
729
+ }
730
+ },
731
+ "init_robot_base_pos": [
732
+ 4.928363880148077,
733
+ -4.020484911978104,
734
+ 0.0
735
+ ],
736
+ "init_robot_base_ori": [
737
+ 0.0,
738
+ 0.0,
739
+ 7.85388898038469
740
+ ]
741
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000391/ep_meta.json ADDED
@@ -0,0 +1,742 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_dining_area_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.244743326685,
14
+ 0.24474403597500002,
15
+ 0.023217144615000004
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0502038361803159,
47
+ 1.0
48
+ ],
49
+ "offset": [
50
+ 0.5998980819098421,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_dining_area_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.249796168970498,
131
+ 1.0
132
+ ],
133
+ "offset": [
134
+ -0.00010191551475102756,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "lime",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "lime",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "counter_1_dining_area_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.2599940797999999,
183
+ 0.2599929331999999,
184
+ 0.08604590539999997
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "receptacle",
202
+ "stackable",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.249796168970498,
216
+ 1.0
217
+ ],
218
+ "offset": [
219
+ -0.00010191551475102756,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_left_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "chicken_drumstick",
245
+ "meat",
246
+ "food",
247
+ "in_container",
248
+ "oven_ready"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "chicken_drumstick",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.0014527782289688873,
260
+ 0.06981058591882013,
261
+ 0.1844737151775919
262
+ ],
263
+ "size": [
264
+ 0.6856360152799493,
265
+ 0.5172543487964222
266
+ ],
267
+ "name": "fridge_shelf0"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_left_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "lemon_wedge",
289
+ "vegetable",
290
+ "food",
291
+ "in_container"
292
+ ],
293
+ "groups": [
294
+ "all"
295
+ ],
296
+ "cat": "lemon_wedge",
297
+ "split": "test",
298
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml"
299
+ },
300
+ "reset_region": {
301
+ "offset": [
302
+ 0.0014527782289688873,
303
+ 0.06981058591882013,
304
+ 0.1844737151775919
305
+ ],
306
+ "size": [
307
+ 0.6856360152799493,
308
+ 0.5172543487964222
309
+ ],
310
+ "name": "fridge_shelf0"
311
+ }
312
+ }
313
+ ],
314
+ "fixtures": {
315
+ "wall_room": {
316
+ "cls": "Wall"
317
+ },
318
+ "wall_backing_room": {
319
+ "cls": "Wall"
320
+ },
321
+ "wall_front_room": {
322
+ "cls": "Wall"
323
+ },
324
+ "wall_front_backing_room": {
325
+ "cls": "Wall"
326
+ },
327
+ "wall_left_room": {
328
+ "cls": "Wall"
329
+ },
330
+ "wall_left_backing_room": {
331
+ "cls": "Wall"
332
+ },
333
+ "wall_left_2_room": {
334
+ "cls": "Wall"
335
+ },
336
+ "wall_2_left_backing_room": {
337
+ "cls": "Wall"
338
+ },
339
+ "wall_right_room": {
340
+ "cls": "Wall"
341
+ },
342
+ "wall_right_backing_room": {
343
+ "cls": "Wall"
344
+ },
345
+ "utensil_rack_room": {
346
+ "cls": "WallAccessory"
347
+ },
348
+ "outlet_room": {
349
+ "cls": "WallAccessory"
350
+ },
351
+ "outlet_2_room": {
352
+ "cls": "WallAccessory"
353
+ },
354
+ "outlet_3_room": {
355
+ "cls": "WallAccessory"
356
+ },
357
+ "light_switch_room": {
358
+ "cls": "WallAccessory"
359
+ },
360
+ "light_switch_2_room": {
361
+ "cls": "WallAccessory"
362
+ },
363
+ "window_group_room": {
364
+ "cls": "Window"
365
+ },
366
+ "floor_room": {
367
+ "cls": "Floor"
368
+ },
369
+ "floor_backing_room": {
370
+ "cls": "Floor"
371
+ },
372
+ "floor_front_room": {
373
+ "cls": "Floor"
374
+ },
375
+ "floor_front_backing_room": {
376
+ "cls": "Floor"
377
+ },
378
+ "stool_1_room": {
379
+ "cls": "Stool"
380
+ },
381
+ "stool_2_room": {
382
+ "cls": "Stool"
383
+ },
384
+ "stool_3_room": {
385
+ "cls": "Stool"
386
+ },
387
+ "counter_corner_1_main_group": {
388
+ "cls": "Counter"
389
+ },
390
+ "counter_main_main_group": {
391
+ "cls": "Counter"
392
+ },
393
+ "stove_main_group": {
394
+ "cls": "Stove"
395
+ },
396
+ "counter_1_main_group": {
397
+ "cls": "Counter"
398
+ },
399
+ "counter_corner_2_main_group": {
400
+ "cls": "Counter"
401
+ },
402
+ "cab_corner_main_group": {
403
+ "cls": "Box"
404
+ },
405
+ "cab_main_main_group": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "cab_1_main_group": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "hood_main_group": {
412
+ "cls": "Hood"
413
+ },
414
+ "shelves_main_group": {
415
+ "cls": "OpenCabinet"
416
+ },
417
+ "cab_corner_3_main_group": {
418
+ "cls": "Box"
419
+ },
420
+ "cab_corner_4_main_group": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_1_main_group_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_1_main_group_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "stack_1_main_group_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_1_main_group_3": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_2_main_group_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_2_main_group_1": {
439
+ "cls": "HingeCabinet"
440
+ },
441
+ "stack_2_main_group_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_2_main_group_3": {
445
+ "cls": "Drawer"
446
+ },
447
+ "right_corner_box_main_group": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_3_main_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_3_main_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_3_main_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_3_main_group_3": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_4_main_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_4_main_group_1": {
466
+ "cls": "Drawer"
467
+ },
468
+ "stack_4_main_group_2": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_4_main_group_3": {
472
+ "cls": "Drawer"
473
+ },
474
+ "stack_4_main_group_4": {
475
+ "cls": "Drawer"
476
+ },
477
+ "coffee_machine_main_group": {
478
+ "cls": "CoffeeMachine"
479
+ },
480
+ "knife_block_main_group": {
481
+ "cls": "Accessory"
482
+ },
483
+ "plant_main_group": {
484
+ "cls": "Accessory"
485
+ },
486
+ "toaster_main_group": {
487
+ "cls": "Toaster"
488
+ },
489
+ "toaster_oven_main_group": {
490
+ "cls": "ToasterOven"
491
+ },
492
+ "tiered_basket_main_group": {
493
+ "cls": "Accessory"
494
+ },
495
+ "jar_main_group": {
496
+ "cls": "Accessory"
497
+ },
498
+ "paprika_main_group": {
499
+ "cls": "Accessory"
500
+ },
501
+ "cinnamon_main_group": {
502
+ "cls": "Accessory"
503
+ },
504
+ "turmeric_main_group": {
505
+ "cls": "Accessory"
506
+ },
507
+ "salt_shaker_main_group": {
508
+ "cls": "Accessory"
509
+ },
510
+ "jar_main_group_auxiliary_main_group": {
511
+ "cls": "Accessory"
512
+ },
513
+ "salt_shaker_main_group_auxiliary_main_group": {
514
+ "cls": "Accessory"
515
+ },
516
+ "fridge_left_group": {
517
+ "cls": "FridgeFrenchDoor"
518
+ },
519
+ "fridge_housing_left_group": {
520
+ "cls": "HousingCabinet"
521
+ },
522
+ "fridge_top_left_group": {
523
+ "cls": "HingeCabinet"
524
+ },
525
+ "stack_left_left_group_base": {
526
+ "cls": "Box"
527
+ },
528
+ "stack_left_left_group_1": {
529
+ "cls": "SingleCabinet"
530
+ },
531
+ "stack_left_left_group_2": {
532
+ "cls": "SingleCabinet"
533
+ },
534
+ "stack_right_left_group_base": {
535
+ "cls": "Box"
536
+ },
537
+ "stack_right_left_group_1": {
538
+ "cls": "SingleCabinet"
539
+ },
540
+ "stack_right_left_group_2": {
541
+ "cls": "SingleCabinet"
542
+ },
543
+ "box_left_top_left_group": {
544
+ "cls": "Box"
545
+ },
546
+ "box_left_bottom_left_group": {
547
+ "cls": "Box"
548
+ },
549
+ "box_right_top_left_group": {
550
+ "cls": "Box"
551
+ },
552
+ "box_right_bottom_left_group": {
553
+ "cls": "Box"
554
+ },
555
+ "sink_right_group": {
556
+ "cls": "Sink"
557
+ },
558
+ "counter_1_right_group": {
559
+ "cls": "Counter"
560
+ },
561
+ "counter_corner_right_group": {
562
+ "cls": "Counter"
563
+ },
564
+ "stack_1_right_group_base": {
565
+ "cls": "Box"
566
+ },
567
+ "stack_1_right_group_1": {
568
+ "cls": "HingeCabinet"
569
+ },
570
+ "stack_1_right_group_2": {
571
+ "cls": "PanelCabinet"
572
+ },
573
+ "dishwasher_right_group": {
574
+ "cls": "Dishwasher"
575
+ },
576
+ "stack_2_right_group_base": {
577
+ "cls": "Box"
578
+ },
579
+ "stack_2_right_group_1": {
580
+ "cls": "SingleCabinet"
581
+ },
582
+ "cab_1_right_group": {
583
+ "cls": "HingeCabinet"
584
+ },
585
+ "cab_2_right_group": {
586
+ "cls": "SingleCabinet"
587
+ },
588
+ "soap_dispenser_right_group": {
589
+ "cls": "Accessory"
590
+ },
591
+ "counter_corner_1_front_group": {
592
+ "cls": "Counter"
593
+ },
594
+ "counter_1_front_group": {
595
+ "cls": "Counter"
596
+ },
597
+ "stack_1_front_group_base": {
598
+ "cls": "Box"
599
+ },
600
+ "stack_1_front_group_1": {
601
+ "cls": "HingeCabinet"
602
+ },
603
+ "stack_1_front_group_2": {
604
+ "cls": "Drawer"
605
+ },
606
+ "shelves_front_group": {
607
+ "cls": "OpenCabinet"
608
+ },
609
+ "bottom_front_group_base": {
610
+ "cls": "Box"
611
+ },
612
+ "bottom_front_group_1": {
613
+ "cls": "Drawer"
614
+ },
615
+ "bottom_front_group_2": {
616
+ "cls": "Drawer"
617
+ },
618
+ "cab_middle_front_group": {
619
+ "cls": "HingeCabinet"
620
+ },
621
+ "microwave_front_group": {
622
+ "cls": "Microwave"
623
+ },
624
+ "micro_housing_front_group": {
625
+ "cls": "HousingCabinet"
626
+ },
627
+ "top_front_group": {
628
+ "cls": "HingeCabinet"
629
+ },
630
+ "utensil_set_front_group": {
631
+ "cls": "Accessory"
632
+ },
633
+ "counter_1_dining_area_group": {
634
+ "cls": "Counter"
635
+ },
636
+ "paper_towel_dining_area_group": {
637
+ "cls": "Accessory"
638
+ },
639
+ "fruit_bowl_dining_area_group": {
640
+ "cls": "Accessory"
641
+ }
642
+ },
643
+ "gen_textures": {},
644
+ "lang": "Pick the chicken drumstick and lime from their plates and place them in the bowl. Then put the bowl in the fridge.",
645
+ "fixture_refs": {
646
+ "stool1": "stool_1_room",
647
+ "stool2": "stool_2_room",
648
+ "dining_counter": "counter_1_dining_area_group",
649
+ "fridge": "fridge_left_group"
650
+ },
651
+ "cam_configs": {
652
+ "robot0_agentview_center": {
653
+ "pos": [
654
+ -0.6,
655
+ 0.0,
656
+ 1.15
657
+ ],
658
+ "quat": [
659
+ 0.636945903301239,
660
+ 0.3325185477733612,
661
+ -0.3199238181114197,
662
+ -0.6175596117973328
663
+ ],
664
+ "parent_body": "mobilebase0_support"
665
+ },
666
+ "robot0_agentview_left": {
667
+ "pos": [
668
+ -0.5,
669
+ 0.35,
670
+ 1.05
671
+ ],
672
+ "quat": [
673
+ 0.55623853,
674
+ 0.29935253,
675
+ -0.37678665,
676
+ -0.6775092
677
+ ],
678
+ "camera_attribs": {
679
+ "fovy": "60"
680
+ },
681
+ "parent_body": "mobilebase0_support"
682
+ },
683
+ "robot0_agentview_right": {
684
+ "pos": [
685
+ -0.5,
686
+ -0.35,
687
+ 1.05
688
+ ],
689
+ "quat": [
690
+ 0.6775091886520386,
691
+ 0.3767866790294647,
692
+ -0.2993525564670563,
693
+ -0.55623859167099
694
+ ],
695
+ "camera_attribs": {
696
+ "fovy": "60"
697
+ },
698
+ "parent_body": "mobilebase0_support"
699
+ },
700
+ "robot0_frontview": {
701
+ "pos": [
702
+ -0.5,
703
+ 0,
704
+ 0.95
705
+ ],
706
+ "quat": [
707
+ 0.6088936924934387,
708
+ 0.3814677894115448,
709
+ -0.3673907518386841,
710
+ -0.5905545353889465
711
+ ],
712
+ "camera_attribs": {
713
+ "fovy": "60"
714
+ },
715
+ "parent_body": "mobilebase0_support"
716
+ },
717
+ "robot0_eye_in_hand": {
718
+ "pos": [
719
+ 0.05,
720
+ 0,
721
+ 0
722
+ ],
723
+ "quat": [
724
+ 0,
725
+ 0.707107,
726
+ 0.707107,
727
+ 0
728
+ ],
729
+ "parent_body": "robot0_right_hand"
730
+ }
731
+ },
732
+ "init_robot_base_pos": [
733
+ 4.916942741806432,
734
+ -4.012768133606976,
735
+ 0.0
736
+ ],
737
+ "init_robot_base_ori": [
738
+ 0.0,
739
+ 0.0,
740
+ 7.85388898038469
741
+ ]
742
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000401/ep_meta.json ADDED
@@ -0,0 +1,734 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.247940875935,
14
+ 0.24539034402000004,
15
+ 0.01667049282
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.2500741284517756,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.6499629357741121,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.247940875935,
98
+ 0.24539034402000004,
99
+ 0.01667049282
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 2.549925877128271,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -3.7061435864460535e-05,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "squash",
161
+ "vegetable",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "vegetable"
167
+ ],
168
+ "cat": "squash",
169
+ "split": "test",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
171
+ }
172
+ },
173
+ {
174
+ "name": "bowl",
175
+ "obj_groups": "bowl",
176
+ "graspable": true,
177
+ "placement": {
178
+ "fixture": "counter_1_front_group",
179
+ "sample_region_kwargs": {
180
+ "ref": "stool_2_room",
181
+ "min_size": [
182
+ 0.23981271599999987,
183
+ 0.2399972111999999,
184
+ 0.09829280159999995
185
+ ]
186
+ },
187
+ "size": [
188
+ 1.0,
189
+ 0.4
190
+ ],
191
+ "pos": [
192
+ "ref",
193
+ "ref"
194
+ ]
195
+ },
196
+ "type": "object",
197
+ "info": {
198
+ "groups_containing_sampled_obj": [
199
+ "all",
200
+ "bowl",
201
+ "receptacle",
202
+ "stackable",
203
+ "group1",
204
+ "container_set2"
205
+ ],
206
+ "groups": [
207
+ "bowl"
208
+ ],
209
+ "cat": "bowl",
210
+ "split": "test",
211
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
212
+ },
213
+ "reset_region": {
214
+ "size": [
215
+ 2.549925877128271,
216
+ 0.65
217
+ ],
218
+ "offset": [
219
+ -3.7061435864460535e-05,
220
+ 0.0,
221
+ 0.46
222
+ ],
223
+ "name": "geom_0"
224
+ }
225
+ },
226
+ {
227
+ "name": "distr1",
228
+ "fridgable": true,
229
+ "placement": {
230
+ "fixture": "fridge_right_group",
231
+ "size": [
232
+ 0.3,
233
+ 0.3
234
+ ],
235
+ "pos": [
236
+ -0.3,
237
+ 1.0
238
+ ]
239
+ },
240
+ "type": "object",
241
+ "info": {
242
+ "groups_containing_sampled_obj": [
243
+ "all",
244
+ "lemon",
245
+ "vegetable",
246
+ "food",
247
+ "in_container",
248
+ "food_set1"
249
+ ],
250
+ "groups": [
251
+ "all"
252
+ ],
253
+ "cat": "lemon",
254
+ "split": "test",
255
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml"
256
+ },
257
+ "reset_region": {
258
+ "offset": [
259
+ 0.17012238254205664,
260
+ 0.01285438192129941,
261
+ 0.5311948742500949
262
+ ],
263
+ "size": [
264
+ 0.37549296241974783,
265
+ 0.3946066862490093
266
+ ],
267
+ "name": "fridge_shelf2"
268
+ }
269
+ },
270
+ {
271
+ "name": "distr2",
272
+ "fridgable": true,
273
+ "placement": {
274
+ "fixture": "fridge_right_group",
275
+ "size": [
276
+ 0.3,
277
+ 0.3
278
+ ],
279
+ "pos": [
280
+ 0.3,
281
+ 1.0
282
+ ]
283
+ },
284
+ "type": "object",
285
+ "info": {
286
+ "groups_containing_sampled_obj": [
287
+ "all",
288
+ "bottled_drink",
289
+ "drink"
290
+ ],
291
+ "groups": [
292
+ "all"
293
+ ],
294
+ "cat": "bottled_drink",
295
+ "split": "test",
296
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_4/model.xml"
297
+ },
298
+ "reset_region": {
299
+ "offset": [
300
+ 0.17161175935390083,
301
+ -0.002463421028568155,
302
+ -0.12892606814174665
303
+ ],
304
+ "size": [
305
+ 0.3777878236752896,
306
+ 0.4259307934615755
307
+ ],
308
+ "name": "fridge_shelf0"
309
+ }
310
+ }
311
+ ],
312
+ "fixtures": {
313
+ "wall_room": {
314
+ "cls": "Wall"
315
+ },
316
+ "wall_backing_room": {
317
+ "cls": "Wall"
318
+ },
319
+ "wall_left_room": {
320
+ "cls": "Wall"
321
+ },
322
+ "wall_left_backing_room": {
323
+ "cls": "Wall"
324
+ },
325
+ "wall_right_room": {
326
+ "cls": "Wall"
327
+ },
328
+ "wall_right_backing_room": {
329
+ "cls": "Wall"
330
+ },
331
+ "outlet_room": {
332
+ "cls": "WallAccessory"
333
+ },
334
+ "utensil_rack_room": {
335
+ "cls": "WallAccessory"
336
+ },
337
+ "light_switch_room": {
338
+ "cls": "WallAccessory"
339
+ },
340
+ "light_switch_2_room": {
341
+ "cls": "WallAccessory"
342
+ },
343
+ "outlet_2_room": {
344
+ "cls": "WallAccessory"
345
+ },
346
+ "outlet_3_room": {
347
+ "cls": "WallAccessory"
348
+ },
349
+ "window_group_room": {
350
+ "cls": "Window"
351
+ },
352
+ "floor_room": {
353
+ "cls": "Floor"
354
+ },
355
+ "floor_backing_room": {
356
+ "cls": "Floor"
357
+ },
358
+ "stool_1_room": {
359
+ "cls": "Stool"
360
+ },
361
+ "stool_2_room": {
362
+ "cls": "Stool"
363
+ },
364
+ "stool_3_room": {
365
+ "cls": "Stool"
366
+ },
367
+ "counter_corner_main_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "counter_main_main_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stovetop_main_group": {
374
+ "cls": "Stovetop"
375
+ },
376
+ "counter_1_main_group": {
377
+ "cls": "Counter"
378
+ },
379
+ "counter_corner_2_main_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "cab_corner_main_group": {
383
+ "cls": "Box"
384
+ },
385
+ "cab_corner_2_main_group": {
386
+ "cls": "Box"
387
+ },
388
+ "cab_1_main_group": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "cab_main_main_group": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_2_main_group": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "shelves_1_main_group": {
398
+ "cls": "OpenCabinet"
399
+ },
400
+ "hood_main_group": {
401
+ "cls": "Hood"
402
+ },
403
+ "shelves_2_main_group": {
404
+ "cls": "OpenCabinet"
405
+ },
406
+ "stack_1_main_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_1_main_group_1": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_1_main_group_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_1_main_group_3": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_1_main_group_4": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_2_main_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_2_main_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_2_main_group_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_2_main_group_3": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_3_main_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_3_main_group_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_3_main_group_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_3_main_group_3": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_4_main_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_4_main_group_1": {
449
+ "cls": "HingeCabinet"
450
+ },
451
+ "stack_5_main_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_5_main_group_1": {
455
+ "cls": "SingleCabinet"
456
+ },
457
+ "stack_5_main_group_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "coffee_machine_main_group": {
461
+ "cls": "CoffeeMachine"
462
+ },
463
+ "paper_towel_main_group": {
464
+ "cls": "Accessory"
465
+ },
466
+ "toaster_main_group": {
467
+ "cls": "Toaster"
468
+ },
469
+ "toaster_oven_main_group": {
470
+ "cls": "ToasterOven"
471
+ },
472
+ "utensil_set_main_group": {
473
+ "cls": "Accessory"
474
+ },
475
+ "oil_bottle_main_group": {
476
+ "cls": "Accessory"
477
+ },
478
+ "knife_block_main_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "jar_main_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "cinnamon_main_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "turmeric_main_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "paprika_main_group": {
491
+ "cls": "Accessory"
492
+ },
493
+ "oil_bottle_main_group_auxiliary_main_group": {
494
+ "cls": "Accessory"
495
+ },
496
+ "jar_main_group_auxiliary_main_group": {
497
+ "cls": "Accessory"
498
+ },
499
+ "counter_1_front_group": {
500
+ "cls": "Counter"
501
+ },
502
+ "counter_corner_front_group": {
503
+ "cls": "Counter"
504
+ },
505
+ "salt_shaker_front_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "salt_shaker_front_group_auxiliary_front_group": {
509
+ "cls": "Accessory"
510
+ },
511
+ "counter_corner_left_group": {
512
+ "cls": "Counter"
513
+ },
514
+ "sink_left_group": {
515
+ "cls": "Sink"
516
+ },
517
+ "counter_1_left_group": {
518
+ "cls": "Counter"
519
+ },
520
+ "counter_corner_right_left_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "stack_1_left_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_1_left_group_1": {
527
+ "cls": "HingeCabinet"
528
+ },
529
+ "stack_1_left_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "stack_1_left_group_3": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_2_left_group_base": {
536
+ "cls": "Box"
537
+ },
538
+ "stack_2_left_group_1": {
539
+ "cls": "HingeCabinet"
540
+ },
541
+ "dishwasher_left_group": {
542
+ "cls": "Dishwasher"
543
+ },
544
+ "stack_3_left_group_base": {
545
+ "cls": "Box"
546
+ },
547
+ "stack_3_left_group_1": {
548
+ "cls": "SingleCabinet"
549
+ },
550
+ "cab_1_left_group": {
551
+ "cls": "HingeCabinet"
552
+ },
553
+ "cab_2_left_group": {
554
+ "cls": "SingleCabinet"
555
+ },
556
+ "plant_left_group": {
557
+ "cls": "Accessory"
558
+ },
559
+ "soap_dispenser_left_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "fruit_bowl_left_group": {
563
+ "cls": "Accessory"
564
+ },
565
+ "stack_left_right_group_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_left_right_group_1": {
569
+ "cls": "SingleCabinet"
570
+ },
571
+ "stack_left_right_group_2": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "fridge_right_group": {
575
+ "cls": "FridgeSideBySide"
576
+ },
577
+ "fridge_housing_right_group": {
578
+ "cls": "HousingCabinet"
579
+ },
580
+ "fridge_top_right_group": {
581
+ "cls": "HingeCabinet"
582
+ },
583
+ "stack_right_right_group_base": {
584
+ "cls": "Box"
585
+ },
586
+ "stack_right_right_group_1": {
587
+ "cls": "SingleCabinet"
588
+ },
589
+ "stack_right_right_group_2": {
590
+ "cls": "SingleCabinet"
591
+ },
592
+ "cab_top_corner_right_group": {
593
+ "cls": "Box"
594
+ },
595
+ "bottom_corner_right_group": {
596
+ "cls": "Box"
597
+ },
598
+ "bottom_right_group_base": {
599
+ "cls": "Box"
600
+ },
601
+ "bottom_right_group_1": {
602
+ "cls": "Drawer"
603
+ },
604
+ "bottom_right_group_2": {
605
+ "cls": "Drawer"
606
+ },
607
+ "oven_right_group": {
608
+ "cls": "Oven"
609
+ },
610
+ "oven_housing_right_group": {
611
+ "cls": "HousingCabinet"
612
+ },
613
+ "microwave_right_group": {
614
+ "cls": "Microwave"
615
+ },
616
+ "micro_housing_right_group": {
617
+ "cls": "HousingCabinet"
618
+ },
619
+ "top_right_group": {
620
+ "cls": "HingeCabinet"
621
+ },
622
+ "side_bottom_right_group_base": {
623
+ "cls": "Box"
624
+ },
625
+ "side_bottom_right_group_1": {
626
+ "cls": "Drawer"
627
+ },
628
+ "side_bottom_right_group_2": {
629
+ "cls": "Drawer"
630
+ },
631
+ "side_bottom_right_group_3": {
632
+ "cls": "HingeCabinet"
633
+ }
634
+ },
635
+ "gen_textures": {},
636
+ "lang": "Pick the chicken drumstick and squash from their plates and place them in the bowl. Then put the bowl in the fridge.",
637
+ "fixture_refs": {
638
+ "stool1": "stool_1_room",
639
+ "stool2": "stool_2_room",
640
+ "dining_counter": "counter_1_front_group",
641
+ "fridge": "fridge_right_group"
642
+ },
643
+ "cam_configs": {
644
+ "robot0_agentview_center": {
645
+ "pos": [
646
+ -0.6,
647
+ 0.0,
648
+ 1.15
649
+ ],
650
+ "quat": [
651
+ 0.636945903301239,
652
+ 0.3325185477733612,
653
+ -0.3199238181114197,
654
+ -0.6175596117973328
655
+ ],
656
+ "parent_body": "mobilebase0_support"
657
+ },
658
+ "robot0_agentview_left": {
659
+ "pos": [
660
+ -0.5,
661
+ 0.35,
662
+ 1.05
663
+ ],
664
+ "quat": [
665
+ 0.55623853,
666
+ 0.29935253,
667
+ -0.37678665,
668
+ -0.6775092
669
+ ],
670
+ "camera_attribs": {
671
+ "fovy": "60"
672
+ },
673
+ "parent_body": "mobilebase0_support"
674
+ },
675
+ "robot0_agentview_right": {
676
+ "pos": [
677
+ -0.5,
678
+ -0.35,
679
+ 1.05
680
+ ],
681
+ "quat": [
682
+ 0.6775091886520386,
683
+ 0.3767866790294647,
684
+ -0.2993525564670563,
685
+ -0.55623859167099
686
+ ],
687
+ "camera_attribs": {
688
+ "fovy": "60"
689
+ },
690
+ "parent_body": "mobilebase0_support"
691
+ },
692
+ "robot0_frontview": {
693
+ "pos": [
694
+ -0.5,
695
+ 0,
696
+ 0.95
697
+ ],
698
+ "quat": [
699
+ 0.6088936924934387,
700
+ 0.3814677894115448,
701
+ -0.3673907518386841,
702
+ -0.5905545353889465
703
+ ],
704
+ "camera_attribs": {
705
+ "fovy": "60"
706
+ },
707
+ "parent_body": "mobilebase0_support"
708
+ },
709
+ "robot0_eye_in_hand": {
710
+ "pos": [
711
+ 0.05,
712
+ 0,
713
+ 0
714
+ ],
715
+ "quat": [
716
+ 0,
717
+ 0.707107,
718
+ 0.707107,
719
+ 0
720
+ ],
721
+ "parent_body": "robot0_right_hand"
722
+ }
723
+ },
724
+ "init_robot_base_pos": [
725
+ 1.9195222266059722,
726
+ -4.896117398383829,
727
+ 0.0
728
+ ],
729
+ "init_robot_base_ori": [
730
+ 0.0,
731
+ 0.0,
732
+ 7.85388898038469
733
+ ]
734
+ }
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000451/ep_meta.json ADDED
@@ -0,0 +1,684 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 8,
3
+ "style_id": 8,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "chicken_drumstick_container",
7
+ "obj_groups": "plate",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "stool_1_room",
12
+ "min_size": [
13
+ 0.24720248007000004,
14
+ 0.24572606796000004,
15
+ 0.012934327725
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.4,
20
+ 0.4
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ "ref"
25
+ ],
26
+ "try_to_place_in": "plate"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "plate"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "test",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.100074126305603,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.3999629368471984,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "chicken_drumstick",
59
+ "obj_groups": "chicken_drumstick",
60
+ "placement": {
61
+ "size": [
62
+ 0.01,
63
+ 0.01
64
+ ],
65
+ "ensure_object_boundary_in_range": false,
66
+ "sample_args": {
67
+ "reference": "chicken_drumstick_container",
68
+ "on_top": true
69
+ }
70
+ },
71
+ "type": "object",
72
+ "info": {
73
+ "groups_containing_sampled_obj": [
74
+ "all",
75
+ "chicken_drumstick",
76
+ "meat",
77
+ "food",
78
+ "in_container",
79
+ "oven_ready"
80
+ ],
81
+ "groups": [
82
+ "chicken_drumstick"
83
+ ],
84
+ "cat": "chicken_drumstick",
85
+ "split": "test",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
87
+ }
88
+ },
89
+ {
90
+ "name": "vegetable_container",
91
+ "obj_groups": "plate",
92
+ "placement": {
93
+ "fixture": "counter_1_front_group",
94
+ "sample_region_kwargs": {
95
+ "ref": "stool_2_room",
96
+ "min_size": [
97
+ 0.24568749157499997,
98
+ 0.24474791709000002,
99
+ 0.03850276869
100
+ ]
101
+ },
102
+ "size": [
103
+ 0.4,
104
+ 0.4
105
+ ],
106
+ "pos": [
107
+ "ref",
108
+ "ref"
109
+ ],
110
+ "try_to_place_in": "plate"
111
+ },
112
+ "type": "object",
113
+ "info": {
114
+ "groups_containing_sampled_obj": [
115
+ "all",
116
+ "plate",
117
+ "receptacle",
118
+ "container",
119
+ "container_set2"
120
+ ],
121
+ "groups": [
122
+ "plate"
123
+ ],
124
+ "cat": "plate",
125
+ "split": "test",
126
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
127
+ },
128
+ "reset_region": {
129
+ "size": [
130
+ 1.1999258801329122,
131
+ 0.65
132
+ ],
133
+ "offset": [
134
+ -0.35003705993354384,
135
+ 0.0,
136
+ 0.46
137
+ ],
138
+ "name": "geom_0"
139
+ }
140
+ },
141
+ {
142
+ "name": "vegetable",
143
+ "obj_groups": "vegetable",
144
+ "graspable": true,
145
+ "placement": {
146
+ "size": [
147
+ 0.01,
148
+ 0.01
149
+ ],
150
+ "ensure_object_boundary_in_range": false,
151
+ "sample_args": {
152
+ "reference": "vegetable_container",
153
+ "on_top": true
154
+ }
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "lemon",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "food_set1"
165
+ ],
166
+ "groups": [
167
+ "vegetable"
168
+ ],
169
+ "cat": "lemon",
170
+ "split": "test",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml"
172
+ }
173
+ },
174
+ {
175
+ "name": "bowl",
176
+ "obj_groups": "bowl",
177
+ "graspable": true,
178
+ "placement": {
179
+ "fixture": "counter_1_front_group",
180
+ "sample_region_kwargs": {
181
+ "ref": "stool_2_room",
182
+ "min_size": [
183
+ 0.22999947099999987,
184
+ 0.22999348179999984,
185
+ 0.06689473639999997
186
+ ]
187
+ },
188
+ "size": [
189
+ 1.0,
190
+ 0.4
191
+ ],
192
+ "pos": [
193
+ "ref",
194
+ "ref"
195
+ ]
196
+ },
197
+ "type": "object",
198
+ "info": {
199
+ "groups_containing_sampled_obj": [
200
+ "all",
201
+ "bowl",
202
+ "receptacle",
203
+ "stackable",
204
+ "group1",
205
+ "container_set2"
206
+ ],
207
+ "groups": [
208
+ "bowl"
209
+ ],
210
+ "cat": "bowl",
211
+ "split": "test",
212
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
213
+ },
214
+ "reset_region": {
215
+ "size": [
216
+ 1.1999258801329122,
217
+ 0.65
218
+ ],
219
+ "offset": [
220
+ -0.35003705993354384,
221
+ 0.0,
222
+ 0.46
223
+ ],
224
+ "name": "geom_0"
225
+ }
226
+ },
227
+ {
228
+ "name": "distr1",
229
+ "fridgable": true,
230
+ "placement": {
231
+ "fixture": "fridge_left_group",
232
+ "size": [
233
+ 0.3,
234
+ 0.3
235
+ ],
236
+ "pos": [
237
+ -0.3,
238
+ 1.0
239
+ ]
240
+ },
241
+ "type": "object",
242
+ "info": {
243
+ "groups_containing_sampled_obj": [
244
+ "all",
245
+ "potato",
246
+ "vegetable",
247
+ "food",
248
+ "in_container",
249
+ "food_set1",
250
+ "oven_ready"
251
+ ],
252
+ "groups": [
253
+ "all"
254
+ ],
255
+ "cat": "potato",
256
+ "split": "test",
257
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
258
+ },
259
+ "reset_region": {
260
+ "offset": [
261
+ 0.00734478175963188,
262
+ 0.003573956171600376,
263
+ 0.24405273782152556
264
+ ],
265
+ "size": [
266
+ 0.6623975154678047,
267
+ 0.4660752914038736
268
+ ],
269
+ "name": "fridge_shelf0"
270
+ }
271
+ },
272
+ {
273
+ "name": "distr2",
274
+ "fridgable": true,
275
+ "placement": {
276
+ "fixture": "fridge_left_group",
277
+ "size": [
278
+ 0.3,
279
+ 0.3
280
+ ],
281
+ "pos": [
282
+ 0.3,
283
+ 1.0
284
+ ]
285
+ },
286
+ "type": "object",
287
+ "info": {
288
+ "groups_containing_sampled_obj": [
289
+ "all",
290
+ "lemon_wedge",
291
+ "vegetable",
292
+ "food",
293
+ "in_container"
294
+ ],
295
+ "groups": [
296
+ "all"
297
+ ],
298
+ "cat": "lemon_wedge",
299
+ "split": "test",
300
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml"
301
+ },
302
+ "reset_region": {
303
+ "offset": [
304
+ -0.000519890487119562,
305
+ 0.0028797472135973917,
306
+ 0.5483455536926568
307
+ ],
308
+ "size": [
309
+ 0.6781268599613075,
310
+ 0.4671225904746241
311
+ ],
312
+ "name": "fridge_shelf1"
313
+ }
314
+ }
315
+ ],
316
+ "fixtures": {
317
+ "wall_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_backing_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_left_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_left_backing_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_right_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "wall_right_backing_room": {
333
+ "cls": "Wall"
334
+ },
335
+ "outlet_room": {
336
+ "cls": "WallAccessory"
337
+ },
338
+ "outlet_2_room": {
339
+ "cls": "WallAccessory"
340
+ },
341
+ "light_switch_room": {
342
+ "cls": "WallAccessory"
343
+ },
344
+ "light_switch_2_room": {
345
+ "cls": "WallAccessory"
346
+ },
347
+ "utensil_rack_room": {
348
+ "cls": "WallAccessory"
349
+ },
350
+ "window_group_room": {
351
+ "cls": "Window"
352
+ },
353
+ "floor_room": {
354
+ "cls": "Floor"
355
+ },
356
+ "floor_backing_room": {
357
+ "cls": "Floor"
358
+ },
359
+ "stool_1_room": {
360
+ "cls": "Stool"
361
+ },
362
+ "stool_2_room": {
363
+ "cls": "Stool"
364
+ },
365
+ "counter_corner_main_group": {
366
+ "cls": "Counter"
367
+ },
368
+ "counter_main_main_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "counter_corner_2_main_group": {
372
+ "cls": "Counter"
373
+ },
374
+ "cab_corner_main_group": {
375
+ "cls": "Box"
376
+ },
377
+ "cab_corner_2_main_group": {
378
+ "cls": "Box"
379
+ },
380
+ "cab_main_main_group": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "cab_1_main_group": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "cab_corner_3_main_group": {
387
+ "cls": "Box"
388
+ },
389
+ "cab_corner_4_main_group": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_main_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_main_group_1": {
396
+ "cls": "HingeCabinet"
397
+ },
398
+ "stack_1_main_group_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_1_main_group_3": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_2_main_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_2_main_group_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "stack_2_main_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_2_main_group_3": {
414
+ "cls": "Drawer"
415
+ },
416
+ "stack_3_main_group_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_3_main_group_1": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_main_group_2": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_3_main_group_3": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_3_main_group_4": {
429
+ "cls": "Drawer"
430
+ },
431
+ "toaster_main_group": {
432
+ "cls": "Toaster"
433
+ },
434
+ "toaster_oven_main_group": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "oil_bottle_main_group": {
438
+ "cls": "Accessory"
439
+ },
440
+ "fruit_bowl_main_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "knife_block_main_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "utensil_set_main_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "paper_towel_main_group": {
450
+ "cls": "Accessory"
451
+ },
452
+ "oil_bottle_main_group_auxiliary_main_group": {
453
+ "cls": "Accessory"
454
+ },
455
+ "counter_1_front_group": {
456
+ "cls": "Counter"
457
+ },
458
+ "counter_corner_front_group": {
459
+ "cls": "Counter"
460
+ },
461
+ "counter_1_left_group": {
462
+ "cls": "Counter"
463
+ },
464
+ "stove_left_group": {
465
+ "cls": "Stove"
466
+ },
467
+ "counter_2_left_group": {
468
+ "cls": "Counter"
469
+ },
470
+ "counter_corner_left_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "fridge_left_group": {
474
+ "cls": "FridgeFrenchDoor"
475
+ },
476
+ "fridge_housing_left_group": {
477
+ "cls": "HousingCabinet"
478
+ },
479
+ "stack_1_left_group_base": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_1_left_group_1": {
483
+ "cls": "SingleCabinet"
484
+ },
485
+ "stack_1_left_group_2": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_2_left_group_base": {
489
+ "cls": "Box"
490
+ },
491
+ "stack_2_left_group_1": {
492
+ "cls": "SingleCabinet"
493
+ },
494
+ "stack_2_left_group_2": {
495
+ "cls": "Drawer"
496
+ },
497
+ "cab_1_left_group": {
498
+ "cls": "SingleCabinet"
499
+ },
500
+ "microwave_left_group": {
501
+ "cls": "Microwave"
502
+ },
503
+ "cab_micro_left_group": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "cab_2_left_group": {
507
+ "cls": "SingleCabinet"
508
+ },
509
+ "cab_3_left_group": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "coffee_machine_left_group": {
513
+ "cls": "CoffeeMachine"
514
+ },
515
+ "salt_shaker_left_group": {
516
+ "cls": "Accessory"
517
+ },
518
+ "salt_shaker_left_group_auxiliary_left_group": {
519
+ "cls": "Accessory"
520
+ },
521
+ "sink_right_group": {
522
+ "cls": "Sink"
523
+ },
524
+ "counter_1_right_group": {
525
+ "cls": "Counter"
526
+ },
527
+ "counter_corner_right_group": {
528
+ "cls": "Counter"
529
+ },
530
+ "counter_corner_2_right_group": {
531
+ "cls": "Counter"
532
+ },
533
+ "stack_1_right_group_base": {
534
+ "cls": "Box"
535
+ },
536
+ "stack_1_right_group_1": {
537
+ "cls": "HingeCabinet"
538
+ },
539
+ "stack_1_right_group_2": {
540
+ "cls": "PanelCabinet"
541
+ },
542
+ "dishwasher_right_group": {
543
+ "cls": "Dishwasher"
544
+ },
545
+ "stack_2_right_group_base": {
546
+ "cls": "Box"
547
+ },
548
+ "stack_2_right_group_1": {
549
+ "cls": "Drawer"
550
+ },
551
+ "stack_2_right_group_2": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_2_right_group_3": {
555
+ "cls": "Drawer"
556
+ },
557
+ "stack_2_right_group_4": {
558
+ "cls": "Drawer"
559
+ },
560
+ "cab_1_right_group": {
561
+ "cls": "HingeCabinet"
562
+ },
563
+ "shelves_right_group": {
564
+ "cls": "OpenCabinet"
565
+ },
566
+ "flower_vase_right_group": {
567
+ "cls": "Accessory"
568
+ },
569
+ "soap_dispenser_right_group": {
570
+ "cls": "Accessory"
571
+ },
572
+ "glass_cup_right_group": {
573
+ "cls": "Accessory"
574
+ },
575
+ "glass_cup_2_right_group": {
576
+ "cls": "Accessory"
577
+ },
578
+ "paprika_right_group": {
579
+ "cls": "Accessory"
580
+ },
581
+ "cinnamon_right_group": {
582
+ "cls": "Accessory"
583
+ }
584
+ },
585
+ "gen_textures": {},
586
+ "lang": "Pick the chicken drumstick and lemon from their plates and place them in the bowl. Then put the bowl in the fridge.",
587
+ "fixture_refs": {
588
+ "stool1": "stool_1_room",
589
+ "stool2": "stool_2_room",
590
+ "dining_counter": "counter_1_front_group",
591
+ "fridge": "fridge_left_group"
592
+ },
593
+ "cam_configs": {
594
+ "robot0_agentview_center": {
595
+ "pos": [
596
+ -0.6,
597
+ 0.0,
598
+ 1.15
599
+ ],
600
+ "quat": [
601
+ 0.636945903301239,
602
+ 0.3325185477733612,
603
+ -0.3199238181114197,
604
+ -0.6175596117973328
605
+ ],
606
+ "parent_body": "mobilebase0_support"
607
+ },
608
+ "robot0_agentview_left": {
609
+ "pos": [
610
+ -0.5,
611
+ 0.35,
612
+ 1.05
613
+ ],
614
+ "quat": [
615
+ 0.55623853,
616
+ 0.29935253,
617
+ -0.37678665,
618
+ -0.6775092
619
+ ],
620
+ "camera_attribs": {
621
+ "fovy": "60"
622
+ },
623
+ "parent_body": "mobilebase0_support"
624
+ },
625
+ "robot0_agentview_right": {
626
+ "pos": [
627
+ -0.5,
628
+ -0.35,
629
+ 1.05
630
+ ],
631
+ "quat": [
632
+ 0.6775091886520386,
633
+ 0.3767866790294647,
634
+ -0.2993525564670563,
635
+ -0.55623859167099
636
+ ],
637
+ "camera_attribs": {
638
+ "fovy": "60"
639
+ },
640
+ "parent_body": "mobilebase0_support"
641
+ },
642
+ "robot0_frontview": {
643
+ "pos": [
644
+ -0.5,
645
+ 0,
646
+ 0.95
647
+ ],
648
+ "quat": [
649
+ 0.6088936924934387,
650
+ 0.3814677894115448,
651
+ -0.3673907518386841,
652
+ -0.5905545353889465
653
+ ],
654
+ "camera_attribs": {
655
+ "fovy": "60"
656
+ },
657
+ "parent_body": "mobilebase0_support"
658
+ },
659
+ "robot0_eye_in_hand": {
660
+ "pos": [
661
+ 0.05,
662
+ 0,
663
+ 0
664
+ ],
665
+ "quat": [
666
+ 0,
667
+ 0.707107,
668
+ 0.707107,
669
+ 0
670
+ ],
671
+ "parent_body": "robot0_right_hand"
672
+ }
673
+ },
674
+ "init_robot_base_pos": [
675
+ 2.8523325614545474,
676
+ -3.946017452889446,
677
+ 0.0
678
+ ],
679
+ "init_robot_base_ori": [
680
+ 0.0,
681
+ 0.0,
682
+ 7.85388898038469
683
+ ]
684
+ }