{"episode_index": 0, "tasks": [0], "length": 1, "dataset_from_index": 0, "dataset_to_index": 0, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960091, \"answer\": \"1\", \"appearance_seed\": 27960091, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Pine_Herringbone\", \"table_material_tries\": [\"Silk_Charmeuse_Orange\", \"Titanium_Brushed\", \"Hunting_Green_Matte\", \"Glass_Clear_Saturated_Red\", \"Polyester_Crepe_de_Chine_Anthracite\", \"Bronze_Foil_Shiny_Wrinkled\", \"Carbon_Fiber_Aluminized_Coated\", \"Wood_Tiles_Oak_Mountain_Diagonal\", \"Gold_Foil_Matte_Wrinkled\", \"Ground_Leaves_Oak\", \"Ceramic_Tiles_Square_Brick_Gray\", \"Water_Murky_Perlinwaves_Clear_Broth\", \"Fabric_Cotton_Pique_Weave_Gray\", \"Mocha_Metallic\", \"Fabric_Cotton_Fine_Woven_Dark_Red\", \"Silver_Foil_Smudged_Foil\", \"Soft_Golden_Green\", \"Copper_Brushed_Very_Strong_Brushing\", \"Wood_Tiles_Pine_Herringbone\"], \"pads\": {\"1\": [-0.16166, 0.58786], \"2\": [-0.16166, 0.43786], \"3\": [-0.16166, 0.28786]}, \"pick_xy\": [-0.16166, 0.43786], \"spawn\": [-0.47997, 0.41644, 0.13623], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8544812979088303, 0.0008614536171522221, -0.0019022268031749557, -0.5194779600280419], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960091\", \"dr_level\": 0, \"level_seed\": 39960094, \"level_table_material\": \"Polyester_Herringbone_Silver\", \"level_table_material_tries\": [\"Titanium_Sheet_Soft_Splotches\", \"Pull_Up_Leather_Cognac\", \"Silk_Charmeuse_Champagne\", \"Brass_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Aluminum_Foil_Smudged_Foil\", \"Silver_Foil_Smudged_Foil\", \"Saturated_Green_Patches\", \"Titanium_Scratched_Dirty_Rough\", \"Paint_Eggshell\", \"Chromium_Brushed_Very_Strong_Brushing\", \"Cardboard_Low_Quality_Dirt\", \"Polyester_Herringbone_Silver\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Pine_Herringbone\", \"source_episode_index\": 0}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7370971906101064, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.692518949508667, 0.40753141045570374, 0.012000000104308128], \"quaternion\": [0.3510713324834216, 0.3510713324834216, -0.6137987614098898, -0.6137987614098896]}, \"12\": {\"position\": [-0.3590947985649109, 0.032529111951589584, 0.03657222166657448], \"quaternion\": [0.6044362053564918, 0.00010382237057831361, -0.002085615031732657, -0.7966508100071823]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4953865336587524, -0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4953865336587524, -0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4953865336587524, 0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4953865336587524, 0.9502992291428147, 0.0]}, \"light_radius\": 0.08541079046041428, \"light_length\": 1.6769473936560872, \"light_intensity\": 50000.0, \"light_color_temperature\": 6352.077713445612, \"center_light_postion\": [1.0570383080688295, 0.9294286271520549, 1.4403284993356182], \"center_light_orientation\": [0.9967620846400251, 0.0, 0.0, 0.08040737916429926]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/Aniline_Leather.mdl\", \"name\": \"Aniline_Leather_Grunge\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.603130705651878, \"metallic_constant\": 0.8090234671365807, \"specular_level\": 0.2966944497357977}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8182215208767061, \"metallic_constant\": 0.7024099450296518, \"specular_level\": 0.7175570803986583}, {\"reflection_roughness_constant\": 0.8395253442288606, \"metallic_constant\": 0.435331639490925, \"specular_level\": 0.18288617797742757}]}}}"}
{"episode_index": 1, "tasks": [0], "length": 1, "dataset_from_index": 1, "dataset_to_index": 1, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960095, \"answer\": \"1\", \"appearance_seed\": 92960095, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Paint_Eggshell_Taupe\", \"table_material_tries\": [\"Plaster_Wall_Weathered\", \"Rug_Carpet_Honeycomb\", \"Devil_Black\", \"plastic_yellow_orange\", \"Glass_Optical_LASF\", \"ABS_Puffy_Woven_Leather_Dark\", \"Polypropylene_Cloudy_Thick\", \"Gold_Brushed_Very_Strong_Brushing\", \"ABS_Soft_Woven_Leather_Lavender\", \"Fabric_Carpet_Long_Floor_Blue\", \"Aluminum_Brushed_Medium_Brushing\", \"Bronze_Foil_Heavy_Wrinkles\", \"Nickel_Polished\", \"Iron_Foil_Matte_Wrinkled\", \"Paint_Eggshell_Teal\", \"Velvet_Ocean_Blue\", \"Grog_Fired_Clay_Glaced\", \"Polyester_Herringbone_Burgundy\", \"Nickel_Foil_Heavy_Glossy_Wrinkles\", \"Glass_Glazing_Spandrel_Dark_Gray\", \"Brass_Antique_Matte_Dirty\", \"Mirror_Smoked_Dark\", \"Wood_Tiles_Ash_Herringbone\", \"Tungsten_Polished\", \"Gold_Metallic\", \"Cardboard_Worn\", \"Wood_Tiles_Walnut_Mosaic\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Aluminum_Brushed_Very_Strong_Brushing\", \"Gold_Hammered_Shiny\", \"White_Light_Metallic\", \"Cotton_Roughly_Woven\", \"Wood_Tiles_Ash_Woodstrip\", \"Sandstone_Brick_Vintage\", \"Stone_Mediterranean_Warm_Shiny\", \"Concrete_Rough_Dirty\", \"Brass_Polished\", \"Iolite\", \"PCB_Solder_Mask_Black_Fast\", \"Mortar_Moist\", \"Fiberglass_Yellowish\", \"Effect_Pigment_Metallic\", \"Suede_Leather_Beige\", \"Wood_Tiles_Ash_Diagonal\", \"Mirror_Smoked_Light\", \"light_pitted_steel\", \"Mosaic_Multi_Color_Stone\", \"Copper_Antique_Brushed_Shiny_Smudged\", \"Chromium_Polished\", \"Slightly_Grown_Moss\", \"Silk_Charmeuse_Champagne\", \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\", \"Fabric_Cotton_Pique_Weave_Inkwell\", \"Titanium_Glossy_Fingerprints\", \"Wood_Tiles_Pine_Brickbond\", \"Gold_Sheet_Splotchy_Streaks\", \"Brass_Brushed_Red_Dirty_Medium\", \"Spongy_Concrete_Weathered_Mossy_Rough\", \"Glass_Glazing_Tinted_Light_Bronze\", \"Silver_Polished\", \"Electric_Blue_Metallic\", \"Aquamarine\", \"White_Chameleon\", \"concrete_precast_light_warm_gray\", \"Brass_Sheet_Gold_New_Clean\", \"Concrete_Wall_Even_New_Shiny\", \"Paper_Coldpressed\", \"Polycarbonate_Cloudy_Soft\", \"Sandstone_Brick_Vintage\", \"Ceramic_Tiles_Square_Antique_White\", \"Wood_Tiles_Walnut_Versailles\", \"Wood_Tiles_Walnut_Stackbond\", \"Concrete_Rough_Mossy\", \"Terrazzo_Footprints\", \"OSB_Wood_Shiny\", \"Fabric_Cotton_Fine_Woven_Orange\", \"Iron_Polished\", \"Fabric_Cotton_Pique_Weave_Burnt_Coral\", \"Tungsten_Sheet\", \"ABS_Soft_Leather_Salmon\", \"Silver_Scratched_Dirty_Rough\", \"Gold_Brushed_Light_Brushing\", \"Platinum_Foil\", \"Paint_Eggshell_Taupe\"], \"pads\": {\"1\": [-0.16632, 0.45862], \"2\": [-0.16632, 0.30862], \"3\": [-0.16632, 0.15862]}, \"pick_xy\": [-0.16632, 0.30862], \"spawn\": [-0.46436, 0.21767, 0.23284], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8785700433685208, 0.0009523072539813569, -0.0018584079313316404, -0.4776089596377886], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960095\", \"dr_level\": 0, \"level_seed\": 100960098, \"level_table_material\": \"Stainless_Steel_Matte\", \"level_table_material_tries\": [\"Tungsten_Foil_Shiny_Wrinkled\", \"Chromium_Foil_Smudged_Foil\", \"Brass_Foil_Yellow_Shiny_Wrinkled\", \"Ceramic_Tiles_Square_Mint_Varied\", \"Chalk_Paint_Pebbles_Moonlight\", \"plastic_yellow_orange\", \"Polyester_Herringbone_Maroon\", \"Stainless_Steel_Matte\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Paint_Eggshell_Taupe\", \"source_episode_index\": 1}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7068356629494031, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6917409896850586, 0.3930206298828125, 0.012000000104308128], \"quaternion\": [0.5771208053752107, 0.5771208053752112, -0.4085726079940598, -0.40857260799405964]}, \"12\": {\"position\": [-0.3616155982017517, 0.030697045847773552, 0.03657222166657448], \"quaternion\": [0.5939187703889691, 7.641553225521529e-05, -0.002086798938961798, -0.8045223014997842]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Taupe\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6816738977381513, -0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6816738977381513, -0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6816738977381513, 0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6816738977381513, 0.5266080535742783, 0.0]}, \"light_radius\": 0.10508805221420817, \"light_length\": 1.3792492858283805, \"light_intensity\": 50000.0, \"light_color_temperature\": 6516.800540832711, \"center_light_postion\": [-0.6290482748911608, 0.4460955017464352, 1.4545187118670586], \"center_light_orientation\": [0.9579169475941384, 0.0, 0.0, -0.2870455042531215]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Taupe\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Styrofoam.mdl\", \"name\": \"Styrofoam_no_SSS\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5126240979622703, \"metallic_constant\": 0.8396418860234248, \"specular_level\": 0.017313175831693783}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7420113331491193, \"metallic_constant\": 0.3099659633743178, \"specular_level\": 0.6735277597199986}, {\"reflection_roughness_constant\": 0.5036280833407332, \"metallic_constant\": 0.6544440707673833, \"specular_level\": 0.22902716902583187}]}}}"}
{"episode_index": 2, "tasks": [0], "length": 1, "dataset_from_index": 2, "dataset_to_index": 2, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960179, \"answer\": \"1\", \"appearance_seed\": 9960179, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"PCB_Copper\", \"table_material_tries\": [\"PCB_Copper\"], \"pads\": {\"1\": [-0.15175, 0.56389], \"2\": [-0.15175, 0.41389], \"3\": [-0.15175, 0.26389]}, \"pick_xy\": [-0.15175, 0.41389], \"spawn\": [-0.45656, 0.36691, 0.18352], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8665244283287536, 0.000906187047121961, -0.0018813277707114833, -0.4991302981590898], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960179\", \"dr_level\": 0, \"level_seed\": 17960182, \"level_table_material\": \"Terrazzo_Freckled_Highlights\", \"level_table_material_tries\": [\"Tungsten_Glossy_Fingerprints\", \"Jelly_Dark_Red_Raspberry\", \"Tungsten_Foil_Shiny_Wrinkled\", \"Tungsten_Scratched_Light_Bumpy\", \"Bronze_Polished_Cloudy_Polish\", \"Zinc_Sheet_Soft_Splotches\", \"Steel_Grey_Polished\", \"Terrazzo_Freckled_Highlights\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"PCB_Copper\", \"source_episode_index\": 2}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7794470125242372, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6506221294403076, 0.36317136883735657, 0.012000000104308128], \"quaternion\": [0.5682169128273894, 0.5682169128273895, 0.42086760385768673, 0.4208676038576868]}, \"12\": {\"position\": [-0.35735300183296204, -0.06032133474946022, 0.03657222166657448], \"quaternion\": [0.6040986414588302, 0.0001029387681020483, -0.0020856588300207646, -0.7969068143882635]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0577290169632705, -1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0577290169632705, -1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0577290169632705, 1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0577290169632705, 1.0622304138529803, 0.0]}, \"light_radius\": 0.10184347159991423, \"light_length\": 1.952933767363171, \"light_intensity\": 50000.0, \"light_color_temperature\": 7640.510613616521, \"center_light_postion\": [0.968248386642593, -0.831699671422198, 1.4565099880067844], \"center_light_orientation\": [0.937855128603254, 0.0, 0.0, -0.34702702740935587]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/PCB_Copper.mdl\", \"name\": \"PCB_Copper\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Mosaic_Shifted.mdl\", \"name\": \"Ceramic_Tiles_Mosaic_Shifted_Gray_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5818638752497283, \"metallic_constant\": 0.9518111320231286, \"specular_level\": 0.6136003654478992}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.37850397576939576, \"metallic_constant\": 0.1263592281107755, \"specular_level\": 0.723063188857593}, {\"reflection_roughness_constant\": 0.4168603602320856, \"metallic_constant\": 0.05837248920588789, \"specular_level\": 0.23021846316060401}]}}}"}
{"episode_index": 3, "tasks": [0], "length": 1, "dataset_from_index": 3, "dataset_to_index": 3, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960180, \"answer\": \"1\", \"appearance_seed\": 15960180, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"ABS_Soft_Woven_Leather_Sand\", \"table_material_tries\": [\"Silver_Glossy_Fingerprints\", \"Chalk_Paint_Black_Bean\", \"Bronze_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Spongy_Concrete_Weathered_Light_Dirt\", \"Blued_Steel_Cold_Worn\", \"Carpaint_Shifting_Flakes\", \"ABS_Soft_Woven_Leather_Sand\"], \"pads\": {\"1\": [-0.17981, 0.46582], \"2\": [-0.17981, 0.31582], \"3\": [-0.17981, 0.16582]}, \"pick_xy\": [-0.17981, 0.31582], \"spawn\": [-0.4938, 0.3091, 0.10555], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8464146256657236, 0.0008321816690532763, -0.0019152135167948149, -0.5325203478647632], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960180\", \"dr_level\": 0, \"level_seed\": 21960183, \"level_table_material\": \"Wood_Tiles_Oak_Mountain_Chantilly\", \"level_table_material_tries\": [\"ABS_Soft_Leather_Salmon\", \"Platinum_Brushed_Very_Strong_Brushing\", \"Steel_Brushed_Clean_Polished\", \"Woven_Metal_03_Copper_Glossy\", \"Glass_Smudged\", \"Wood_Tiles_Oak_Mountain_Chantilly\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"ABS_Soft_Woven_Leather_Sand\", \"source_episode_index\": 3}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7254335208009922, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6068520545959473, 0.39387083053588867, 0.012000000104308128], \"quaternion\": [0.5702243149152093, 0.5702243149152092, 0.4181437918700701, 0.41814379187007006]}, \"12\": {\"position\": [-0.38228294253349304, 0.03064684569835663, 0.03657222166657448], \"quaternion\": [0.6457598589340307, 0.00021407989109874343, -0.0020771949704946335, -0.7635377161740963]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Sand\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.932122074729904, -0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.932122074729904, -0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.932122074729904, 0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.932122074729904, 0.5900143333625675, 0.0]}, \"light_radius\": 0.08855518820430403, \"light_length\": 1.547023732304484, \"light_intensity\": 50000.0, \"light_color_temperature\": 6812.466688145201, \"center_light_postion\": [0.6411533645235168, 0.12709593908020178, 1.414888479593954], \"center_light_orientation\": [0.8666732780522696, 0.0, 0.0, -0.49887616610751556]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/ABS_Woven_Leather.mdl\", \"name\": \"ABS_Soft_Woven_Leather_Sand\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Cobblestone_Medieval.mdl\", \"name\": \"Cobblestone_Medieval_Dark_Dirt\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.22198402379821924, \"metallic_constant\": 0.5800114137069139, \"specular_level\": 0.6282002752948934}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.38162496118853495, \"metallic_constant\": 0.6881319254907434, \"specular_level\": 0.7144702761974943}, {\"reflection_roughness_constant\": 0.33530800946325834, \"metallic_constant\": 0.6433195405050429, \"specular_level\": 0.09824413902688678}]}}}"}
{"episode_index": 4, "tasks": [0], "length": 1, "dataset_from_index": 4, "dataset_to_index": 4, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960224, \"answer\": \"1\", \"appearance_seed\": 16960224, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"table_material_tries\": [\"Polypropylene_Lemon\", \"Brass_Scratched_Red_Medium_Glossy_Scratches\", \"ABS_Spotty_Woven_Leather_Ash\", \"Wood_Tiles_Pine_Chantilly\", \"Zinc_Sheet_Matte_Imperfections\", \"Glass_Optical_SSK\", \"Wood_Cork\", \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"], \"pads\": {\"1\": [-0.19655, 0.57746], \"2\": [-0.19655, 0.42746], \"3\": [-0.19655, 0.27746]}, \"pick_xy\": [-0.19655, 0.42746], \"spawn\": [-0.50726, 0.36961, 0.16528], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8619374077582097, 0.0008889956941688797, -0.0018895120536718075, -0.507010398845934], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960224\", \"dr_level\": 0, \"level_seed\": 27960227, \"level_table_material\": \"Paint_Eggshell_Taupe\", \"level_table_material_tries\": [\"Aluminum_Scratched_Dirty_Rough\", \"Gold_Sheet_Soft_Splotches\", \"ABS_Velvety_Woven_Leather_Brown\", \"Bronze_Brushed_Yellow_Medium\", \"Peridot\", \"Pull_Up_Leather_Light_Brown\", \"Devil_Black\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Iron_Brushed_Very_Strong_Brushing\", \"Pull_Up_Leather_Cognac\", \"Paint_Eggshell_Taupe\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"source_episode_index\": 4}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7718548467692604, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6524477005004883, 0.36151862144470215, 0.012000000104308128], \"quaternion\": [0.09489525403773838, 0.09489525403773831, 0.7007102759066072, 0.7007102759066071]}, \"12\": {\"position\": [-0.37300339341163635, 0.06825049966573715, 0.03657222166657448], \"quaternion\": [0.5798646484891441, 4.018202164393435e-05, -0.0020878109469868456, -0.8147101502150418]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.42551094927666, -1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.42551094927666, -1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.42551094927666, 1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.42551094927666, 1.0761142125321106, 0.0]}, \"light_radius\": 0.09894586982693043, \"light_length\": 2.0447980010655646, \"light_intensity\": 50000.0, \"light_color_temperature\": 6066.18430293647, \"center_light_postion\": [0.11533932751511222, -0.9507150107039823, 1.3862670770192476], \"center_light_orientation\": [0.9294146574544914, 0.0, 0.0, 0.36903711806368533]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chantilly\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7668032650944213, \"metallic_constant\": 0.252629479484469, \"specular_level\": 0.5982354133525601}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.14459125763956127, \"metallic_constant\": 0.9525070215180996, \"specular_level\": 0.829393804741327}, {\"reflection_roughness_constant\": 0.13573663474963515, \"metallic_constant\": 0.1402745887074628, \"specular_level\": 0.9530621131275545}]}}}"}
{"episode_index": 5, "tasks": [0], "length": 1, "dataset_from_index": 5, "dataset_to_index": 5, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960267, \"answer\": \"1\", \"appearance_seed\": 10960267, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Pigmented_Smooth_Leather_Green\", \"table_material_tries\": [\"Zinc_Hammered_Shiny\", \"Pigmented_Smooth_Leather_Green\"], \"pads\": {\"1\": [-0.18842, 0.51854], \"2\": [-0.18842, 0.36854], \"3\": [-0.18842, 0.21854]}, \"pick_xy\": [-0.18842, 0.36854], \"spawn\": [-0.48426, 0.3393, 0.17858], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8652907969295935, 0.0009015444063854666, -0.001883556961850885, -0.5012658737434699], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960267\", \"dr_level\": 0, \"level_seed\": 13960270, \"level_table_material\": \"Bronze_Brushed_Yellow_Dirty_Medium\", \"level_table_material_tries\": [\"Stainless_Steel_Shiny_Worn\", \"Copper_Brushed_Medium_Brushing\", \"Bronze_Brushed_Yellow_Dirty_Medium\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Pigmented_Smooth_Leather_Green\", \"source_episode_index\": 5}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7726515360643377, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.617964267730713, 0.39769017696380615, 0.012000000104308128], \"quaternion\": [0.6429532433636342, 0.6429532433636342, 0.29429768406867063, 0.2942976840686708]}, \"12\": {\"position\": [-0.3854140341281891, -0.05110648646950722, 0.03657222166657448], \"quaternion\": [0.6072889812484774, 0.0001113003837381839, -0.0020852293326636406, -0.7944782770378565]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Pigmented_Smooth_Leather.mdl\", \"name\": \"Pigmented_Smooth_Leather_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0569302998083074, -0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0569302998083074, -0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0569302998083074, 0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0569302998083074, 0.5180432336195756, 0.0]}, \"light_radius\": 0.08867249320049737, \"light_length\": 1.72510601282817, \"light_intensity\": 50000.0, \"light_color_temperature\": 6766.92990946962, \"center_light_postion\": [-0.5351132318207655, -1.0511155520482374, 1.33414680805814], \"center_light_orientation\": [0.9447870026742076, 0.0, 0.0, 0.3276850920897788]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Pigmented_Smooth_Leather.mdl\", \"name\": \"Pigmented_Smooth_Leather_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Foil.mdl\", \"name\": \"Brass_Foil_Gold_Slightly_Wrinkled\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7438588104704427, \"metallic_constant\": 0.1990402026504915, \"specular_level\": 0.36921127536420884}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4751246938798318, \"metallic_constant\": 0.4514957785684961, \"specular_level\": 0.6788943266167539}, {\"reflection_roughness_constant\": 0.374246993027915, \"metallic_constant\": 0.03889032587556074, \"specular_level\": 0.6953564282041317}]}}}"}
{"episode_index": 6, "tasks": [0], "length": 1, "dataset_from_index": 6, "dataset_to_index": 6, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960363, \"answer\": \"1\", \"appearance_seed\": 12960363, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Zinc_Brushed_Medium_Brushing\", \"table_material_tries\": [\"Iron_Scratched_Light_Bumpy\", \"Wood_Tiles_Poplar_Herringbone\", \"ABS_Soft_Leather_Cognac\", \"Zinc_Brushed_Medium_Brushing\"], \"pads\": {\"1\": [-0.15065, 0.45204], \"2\": [-0.15065, 0.30204], \"3\": [-0.15065, 0.15204]}, \"pick_xy\": [-0.15065, 0.30204], \"spawn\": [-0.44923, 0.28838, 0.10633], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8466221841629793, 0.0008329283229029557, -0.0019148889143049339, -0.532190301221247], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960363\", \"dr_level\": 0, \"level_seed\": 21960366, \"level_table_material\": \"Semi_Aniline_Mint\", \"level_table_material_tries\": [\"PU_Split_Leather_Light_Salmon\", \"Polycarbonate_Lemon\", \"Concrete_Formed\", \"plastic_yellow_orange\", \"Titanium_Scratched_Dirty_Rough\", \"plastic_simple_controls\", \"Gold_Scratched_Scuffs_and_Grime\", \"Wood_Tiles_Beech_Versailles\", \"Semi_Aniline_Mint\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Zinc_Brushed_Medium_Brushing\", \"source_episode_index\": 6}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.723261152667528, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.639223337173462, 0.40582820773124695, 0.012000000104308128], \"quaternion\": [0.3204326647186935, 0.3204326647186936, -0.6303355514178755, -0.6303355514178756]}, \"12\": {\"position\": [-0.374053418636322, -0.02192419394850731, 0.03657222166657448], \"quaternion\": [0.5447969048670592, -4.838369579450077e-05, -0.002087636980704244, -0.8385654249240948]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.156925780685946, -0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.156925780685946, -0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.156925780685946, 0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.156925780685946, 0.8625216866027176, 0.0]}, \"light_radius\": 0.09347904206174922, \"light_length\": 1.0467951182305977, \"light_intensity\": 50000.0, \"light_color_temperature\": 6080.635872018132, \"center_light_postion\": [1.003497651370283, 0.5556791214004986, 1.3333388087864713], \"center_light_orientation\": [0.7961486717630621, 0.0, 0.0, -0.6051010596998752]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Optical.mdl\", \"name\": \"Glass_Optical_LAF\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5675685461016503, \"metallic_constant\": 0.019429372197978023, \"specular_level\": 0.9442864891542174}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5415611154846011, \"metallic_constant\": 0.7914973871140394, \"specular_level\": 0.47102646754501154}, {\"reflection_roughness_constant\": 0.0970718256478098, \"metallic_constant\": 0.8115294057615068, \"specular_level\": 0.9305153013955316}]}}}"}
{"episode_index": 7, "tasks": [0], "length": 1, "dataset_from_index": 7, "dataset_to_index": 7, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960399, \"answer\": \"1\", \"appearance_seed\": 38960399, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Yellow_Shiny_Handled\", \"table_material_tries\": [\"Fabric_Cotton_Fine_Woven_Dark_Red\", \"Cardboard_Low_Quality\", \"Zinc_Rough_Heavy_Shiny_Oxidized\", \"Wood_Tiles_Pine\", \"Tire_Slick\", \"Titanium_Brushed_Light_Brushing\", \"Jelly_Clear\", \"Concrete_Wall_Aged_Scratched_Shiny\", \"Cardboard_Worn\", \"Chalk_Paint_Pebbles_Elation\", \"Steel_Grey_Polished\", \"Ceramic_Tiles_Pinwheel_Yellow_Varied\", \"Glass_Glazing_Tinted_Evergreen\", \"black_galaxy\", \"concrete_precast_light_warm_gray\", \"Chalk_Paint_Pebbles_Contemplation\", \"Water_Ocean_Light_Blue\", \"Carbon_Fiber_Aluminized_Coated\", \"PCB_Prepreg_Shiny\", \"Velvet_Blue\", \"Copper_Sheet_Glossy_Imperfections\", \"Aluminum_Foil_Smudged_Foil\", \"Rosa_Beta_Glossy_Stain\", \"Brass_Antique_Shiny_Stained\", \"ABS_Soft_Leather\", \"Mocha_Metallic\", \"PCB_Solder_Mask\", \"PCB_Copper_Smooth\", \"Polyester_Charmeuse_Black\", \"Bronze_Yellow_Shiny_Handled\"], \"pads\": {\"1\": [-0.20668, 0.52696], \"2\": [-0.20668, 0.37696], \"3\": [-0.20668, 0.22696]}, \"pick_xy\": [-0.20668, 0.37696], \"spawn\": [-0.51885, 0.35088, 0.15258], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8587016715890183, 0.0008769836506201665, -0.0018951170997505101, -0.5124715393473875], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960399\", \"dr_level\": 0, \"level_seed\": 45960402, \"level_table_material\": \"Tweed_Herringbone_Saturated_Green\", \"level_table_material_tries\": [\"Suede_Leather_Light_Blue\", \"Rug_Carpet_Hexagonal\", \"Chalk_Paint_Pebbles_Moonstone\", \"Wood_Tiles_Ash_Diagonal\", \"Copper_Brushed\", \"PU_Split_Leather_Purple\", \"Tweed_Herringbone_Saturated_Green\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Bronze_Yellow_Shiny_Handled\", \"source_episode_index\": 7}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6978840205924839, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6396403312683105, 0.4323531985282898, 0.012000000104308128], \"quaternion\": [0.6249729391269938, 0.6249729391269938, -0.3307700490657627, -0.3307700490657625]}, \"12\": {\"position\": [-0.37383994460105896, -0.02833605743944645, 0.03657222166657448], \"quaternion\": [0.5583902914362643, -1.4355962659447703e-05, -0.002088148235053877, -0.82957574811501]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1294683798316307, -0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1294683798316307, -0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1294683798316307, 0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1294683798316307, 0.6178934302664314, 0.0]}, \"light_radius\": 0.09037485288216586, \"light_length\": 1.469573098454139, \"light_intensity\": 50000.0, \"light_color_temperature\": 7406.645836236092, \"center_light_postion\": [-0.409170968460548, -0.3254114636914286, 1.4786196114313346], \"center_light_orientation\": [0.8623576111967312, 0.0, 0.0, 0.5062996646365346]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Sheet.mdl\", \"name\": \"Copper_Sheet_Soft_Splotches\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7278405130064522, \"metallic_constant\": 0.47505785567413195, \"specular_level\": 0.7598060697119209}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5273458258055386, \"metallic_constant\": 0.8540130470904438, \"specular_level\": 0.5646775636343321}, {\"reflection_roughness_constant\": 0.8624353567796968, \"metallic_constant\": 0.36497270358859046, \"specular_level\": 0.18429188585044376}]}}}"}
{"episode_index": 8, "tasks": [0], "length": 1, "dataset_from_index": 8, "dataset_to_index": 8, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960460, \"answer\": \"1\", \"appearance_seed\": 15960460, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Rough\", \"table_material_tries\": [\"ABS_Soft_Woven_Leather_Salmon\", \"Copper\", \"Nickel_Foil_Matte_Wrinkled\", \"Brass_Scratched_Yellow_Heavy_Worn_Scratches\", \"black_galaxy\", \"Silver_Polished\", \"Spongy_Concrete_Weathered_Rough\"], \"pads\": {\"1\": [-0.18456, 0.60722], \"2\": [-0.18456, 0.45722], \"3\": [-0.18456, 0.30722]}, \"pick_xy\": [-0.18456, 0.45722], \"spawn\": [-0.48967, 0.36355, 0.2412], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8805589267511588, 0.0009600676794979515, -0.0018544107409107827, -0.47393207946888644], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960460\", \"dr_level\": 0, \"level_seed\": 26960463, \"level_table_material\": \"Ceramic_Tiles_Pinwheel_White_Matte\", \"level_table_material_tries\": [\"Emerald_Metallic\", \"concrete_precast_dark_charcoal\", \"Aluminum_Foil_Heavy_Matte_Wrinkled\", \"Brass_Polished_Yellow_Cloudy_Polish\", \"Rug_Carpet_Base\", \"Iron_Glossy_Fingerprints\", \"Woven_Metal_03_Copper_Worn\", \"Jelly_Red_Strawberry\", \"Chalk_Paint_Pebbles_Morning_Dew\", \"Velvet_Blue\", \"Ceramic_Tiles_Pinwheel_White_Matte\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Rough\", \"source_episode_index\": 8}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7204135013752241, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6215479373931885, 0.4079454243183136, 0.012000000104308128], \"quaternion\": [0.6713408051906928, 0.6713408051906926, -0.22203946335260416, -0.2220394633526043]}, \"12\": {\"position\": [-0.3646237254142761, 0.041023336350917816, 0.03657222166657448], \"quaternion\": [0.6045675831299405, 0.00010416633492886671, -0.0020855978806780806, -0.7965511137769357]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9996328511637522, -0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9996328511637522, -0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9996328511637522, 0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9996328511637522, 0.8918650489398672, 0.0]}, \"light_radius\": 0.11553841340375805, \"light_length\": 1.9123900902968594, \"light_intensity\": 50000.0, \"light_color_temperature\": 7636.706723250563, \"center_light_postion\": [0.25019400722950924, 0.6824201397902026, 1.4929392098558385], \"center_light_orientation\": [0.942602209559575, 0.0, 0.0, -0.33391776612424673]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Blued_Steel_Cold.mdl\", \"name\": \"Blued_Steel_Cold_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.606783167327736, \"metallic_constant\": 0.9529686572247208, \"specular_level\": 0.5688793996560676}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.16073766239343168, \"metallic_constant\": 0.41196922834065075, \"specular_level\": 0.221770274086439}, {\"reflection_roughness_constant\": 0.9601301785120209, \"metallic_constant\": 0.9654752118661295, \"specular_level\": 0.868476634773827}]}}}"}
{"episode_index": 9, "tasks": [0], "length": 1, "dataset_from_index": 9, "dataset_to_index": 9, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960518, \"answer\": \"1\", \"appearance_seed\": 12960518, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Platinum_Foil_Matte_Wrinkled\", \"table_material_tries\": [\"Glass_Optical_LAF\", \"ABS_Soft_Woven_Leather_Salmon\", \"Chalk_Paint_Pebbles_Contemplation\", \"Platinum_Foil_Matte_Wrinkled\"], \"pads\": {\"1\": [-0.15507, 0.60552], \"2\": [-0.15507, 0.45552], \"3\": [-0.15507, 0.30552]}, \"pick_xy\": [-0.15507, 0.45552], \"spawn\": [-0.46591, 0.42249, 0.16612], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8621495535055876, 0.0008897865164776312, -0.001889139777866228, -0.506649570039264], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a1-s9960518\", \"dr_level\": 0, \"level_seed\": 15960521, \"level_table_material\": \"Aluminum_Sheet_Matte_Imperfections\", \"level_table_material_tries\": [\"Brass_Foil_Yellow_Shiny_Wrinkled\", \"Jelly_White_Pineapple\", \"Aluminum_Sheet_Matte_Imperfections\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Platinum_Foil_Matte_Wrinkled\", \"source_episode_index\": 9}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.695977154415956, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6216208934783936, 0.35251522064208984, 0.012000000104308128], \"quaternion\": [0.2611554528442662, 0.2611554528442663, 0.6571132546598846, 0.6571132546598847]}, \"12\": {\"position\": [-0.3594333529472351, 0.05462677404284477, 0.03657222166657448], \"quaternion\": [0.6528839103637084, 0.00023352847196318914, -0.0020750984550148566, -0.7574551069331092]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7290884823003043, -1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7290884823003043, -1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7290884823003043, 1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7290884823003043, 1.2464513419856456, 0.0]}, \"light_radius\": 0.09410871003902692, \"light_length\": 0.5560485575353884, \"light_intensity\": 50000.0, \"light_color_temperature\": 7318.021842613209, \"center_light_postion\": [-0.04528423604591825, -0.1815957458958588, 1.4405188890795793], \"center_light_orientation\": [0.9860315262718021, 0.0, 0.0, -0.16655878601292815]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Matte_Wrinkled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Polished.mdl\", \"name\": \"Bronze_Polished_Matte_Polish\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.45366896871431206, \"metallic_constant\": 0.21337676903213254, \"specular_level\": 0.5908194822037448}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9688180516906651, \"metallic_constant\": 0.3398826313872936, \"specular_level\": 0.0369984497524487}, {\"reflection_roughness_constant\": 0.6292297640873808, \"metallic_constant\": 0.03824031508545134, \"specular_level\": 0.4204172078905085}]}}}"}
{"episode_index": 10, "tasks": [0], "length": 1, "dataset_from_index": 10, "dataset_to_index": 10, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960009, \"answer\": \"2\", \"appearance_seed\": 9960009, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Solder_Paste\", \"table_material_tries\": [\"Solder_Paste\"], \"pads\": {\"1\": [-0.17832, 0.46802], \"2\": [-0.17832, 0.31802], \"3\": [-0.17832, 0.16802]}, \"pick_xy\": [-0.17832, 0.31802], \"spawn\": [-0.47297, 0.25717, 0.25168], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8830301182578548, 0.0009697711244943958, -0.0018493547824359538, -0.4693116764798998], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960009\", \"dr_level\": 0, \"level_seed\": 24960012, \"level_table_material\": \"PU_Split_Leather_Blue\", \"level_table_material_tries\": [\"Polyester_Herringbone_Light_Brown\", \"Bronze_Sheet_Splotchy_Streaks\", \"Polyester_Twill\", \"Steel_Grey_Dark_Clean_Ripple\", \"Woven_Metal_01_Steel_Brass\", \"Diamond\", \"Sapphire\", \"Concrete_Rough_Mossy\", \"Glass_Optical_BAK\", \"OSB_Wood_Splattered\", \"Gold\", \"Aluminum_Foil\", \"Polypropylene_Ivory\", \"Velvet_Black\", \"PU_Split_Leather_Blue\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Solder_Paste\", \"source_episode_index\": 10}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.771784674499685, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.617255449295044, 0.3851182758808136, 0.012000000104308128], \"quaternion\": [0.42179550715599373, 0.4217955071559937, -0.5675284575622778, -0.5675284575622779]}, \"12\": {\"position\": [-0.38966354727745056, 0.0641583800315857, 0.03657222166657448], \"quaternion\": [0.6069957886012757, 0.00011053095587706725, -0.002085270258986527, -0.7947023040429477]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7743978968476948, -1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7743978968476948, -1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7743978968476948, 1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7743978968476948, 1.2053864827904834, 0.0]}, \"light_radius\": 0.10719279141586784, \"light_length\": 1.7352049289064542, \"light_intensity\": 50000.0, \"light_color_temperature\": 6023.316211161258, \"center_light_postion\": [-0.21062326123883202, -0.5384245133017098, 1.3711325566866965], \"center_light_orientation\": [0.9928566344238193, 0.0, 0.0, -0.11931346730611089]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/Pull_Up_Leather.mdl\", \"name\": \"Pull_Up_Leather_Black\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9451640817386832, \"metallic_constant\": 0.9829746306781982, \"specular_level\": 0.7362640952297747}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.1623951811651848, \"metallic_constant\": 0.545517500373139, \"specular_level\": 0.7483635635882783}, {\"reflection_roughness_constant\": 0.5512747370887442, \"metallic_constant\": 0.6934315105965074, \"specular_level\": 0.4504495943222373}]}}}"}
{"episode_index": 11, "tasks": [0], "length": 1, "dataset_from_index": 11, "dataset_to_index": 11, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960050, \"answer\": \"2\", \"appearance_seed\": 10960050, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Scratched\", \"table_material_tries\": [\"PCB_Coppery\", \"Iron_Scratched\"], \"pads\": {\"1\": [-0.20164, 0.48988], \"2\": [-0.20164, 0.33988], \"3\": [-0.20164, 0.18988]}, \"pick_xy\": [-0.20164, 0.33988], \"spawn\": [-0.52109, 0.29423, 0.2102], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8731059305209664, 0.0009312041262768989, -0.0018690714326709764, -0.4875260747077768], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960050\", \"dr_level\": 0, \"level_seed\": 16960053, \"level_table_material\": \"Chalk_Paint_Pebbles_Roses\", \"level_table_material_tries\": [\"ABS_Hard_Leather_Vintage_Rose\", \"PCB_Coppery\", \"Electric_Blue_Metallic\", \"Pull_Up_Leather_Cognac\", \"Ceramic_Tiles_Square_Brick_Gray\", \"Chalk_Paint_Pebbles_Roses\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Iron_Scratched\", \"source_episode_index\": 11}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7267174047285029, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.622576951980591, 0.44113585352897644, 0.012000000104308128], \"quaternion\": [0.390756411922966, 0.3907564119229663, 0.5893296416616842, 0.5893296416616842]}, \"12\": {\"position\": [-0.37236902117729187, -0.012048955075442791, 0.03657222166657448], \"quaternion\": [0.5563478659869859, -1.9492712437307766e-05, -0.002088106601537576, -0.8309468643918105]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2213892852265924, -0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2213892852265924, -0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2213892852265924, 0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2213892852265924, 0.5479496722675238, 0.0]}, \"light_radius\": 0.10479913972319527, \"light_length\": 1.7541210518813741, \"light_intensity\": 50000.0, \"light_color_temperature\": 6960.876589647821, \"center_light_postion\": [0.29225257425641904, -0.5582195995505836, 1.4867164961063513], \"center_light_orientation\": [0.8449275576537069, 0.0, 0.0, 0.5348807552318011]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3614367170098043, \"metallic_constant\": 0.7738111007455422, \"specular_level\": 0.8836398094724888}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9248892493358941, \"metallic_constant\": 0.49479125999550533, \"specular_level\": 0.4227849851190374}, {\"reflection_roughness_constant\": 0.7678395328913823, \"metallic_constant\": 0.24641354573755492, \"specular_level\": 0.8701932624504835}]}}}"}
{"episode_index": 12, "tasks": [0], "length": 1, "dataset_from_index": 12, "dataset_to_index": 12, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960090, \"answer\": \"2\", \"appearance_seed\": 9960090, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Zinc_Sheet_Glossy_Imperfections\", \"table_material_tries\": [\"Zinc_Sheet_Glossy_Imperfections\"], \"pads\": {\"1\": [-0.16166, 0.53654], \"2\": [-0.16166, 0.38654], \"3\": [-0.16166, 0.23654]}, \"pick_xy\": [-0.16166, 0.38654], \"spawn\": [-0.45865, 0.32308, 0.19347], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8689975802550166, 0.0009155381020332204, -0.0018767949086001027, -0.4948119288596238], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960090\", \"dr_level\": 0, \"level_seed\": 49960093, \"level_table_material\": \"Ground_Hard_Court_Faded_Blue\", \"level_table_material_tries\": [\"Mulch_Dry_Contrast\", \"Diamond\", \"Wood_Tiles_Ash_Herringbone\", \"Fabric_Cotton_Pique_Weave_Carulean\", \"Glass_Optical_BASF\", \"Wood_Tiles_Ash_Brickbond\", \"Water_Murky_Perlinwaves_Rusty_Lake\", \"Polyethylene_Light_Blue\", \"ABS_Soft_Leather_Cognac\", \"Silk_Crepe_de_Chine_Rose\", \"Chromium_Sheet_Splotchy_Streaks\", \"Titanium_Sheet_Soft_Splotches\", \"Platinum_Scratched_Scuffs_and_Grime\", \"concrete_precast_light_warm_gray\", \"Bionic_Flare\", \"Bronze_Sheet_Matte_Imperfections\", \"Zinc_Scratched_Scuffs_and_Grime\", \"Fabric_Carpet_Long_Floor_Blue\", \"Glass_Glazing_Tinted\", \"Copper_Antique_Brushed_Worn_Matte\", \"Wood_Tiles_Oak_Mountain_Versailles\", \"Chromium_Sheet_Splotchy_Streaks\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Tungsten_Foil_Shiny_Wrinkled\", \"Aluminum_Cast_Rough\", \"Brass_Foil_Gold_Matte_Wrinkled\", \"Mirror\", \"Facade_Plaster_Rough\", \"Carpaint_Metallic\", \"Wood_Tiles_Oak_Mountain_Mosaic\", \"ABS_Soft_Leather_Deep_Radish\", \"Stone_Pores_Weathered\", \"Ground_Aggregate_Exposed\", \"Pigmented_Smooth_Leather_Ash_Brown\", \"plastic_simple_controls\", \"Nickel_Foil_Matte_Wrinkled\", \"light_pitted_steel\", \"Jelly_Clear_Green_Apple\", \"Fabric_Cotton_Pique_Weave_Carulean\", \"Ground_Hard_Court_Faded_Blue\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Zinc_Sheet_Glossy_Imperfections\", \"source_episode_index\": 12}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7222190766479439, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.654590606689453, 0.4204920530319214, 0.012000000104308128], \"quaternion\": [0.2117743874763867, 0.2117743874763867, -0.6746492487278117, -0.6746492487278121]}, \"12\": {\"position\": [-0.3592585623264313, -0.020060371607542038, 0.03657222166657448], \"quaternion\": [0.6377847250355267, 0.00019246705681834892, -0.0020793089181893043, -0.7702118435483915]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8376689512534097, -0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8376689512534097, -0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8376689512534097, 0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8376689512534097, 0.9500185651115481, 0.0]}, \"light_radius\": 0.1020290952132463, \"light_length\": 0.6029142623030991, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.9601281446085, \"center_light_postion\": [0.3296750513789126, 0.8515584586210216, 1.3573661869436564], \"center_light_orientation\": [0.8883489417184717, 0.0, 0.0, 0.4591689860472628]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Glossy_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Silk_Crepe_de_Chine.mdl\", \"name\": \"Silk_Crepe_de_Chine_Sky_Blue\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6642938917930116, \"metallic_constant\": 0.7972211007816722, \"specular_level\": 0.875637763955563}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4797418603905398, \"metallic_constant\": 0.5701432668415038, \"specular_level\": 0.39226937239756554}, {\"reflection_roughness_constant\": 0.10406773055176965, \"metallic_constant\": 0.5462764862336478, \"specular_level\": 0.999582065816331}]}}}"}
{"episode_index": 13, "tasks": [0], "length": 1, "dataset_from_index": 13, "dataset_to_index": 13, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960136, \"answer\": \"2\", \"appearance_seed\": 39960136, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Pull_Up_Leather_Red_Wine\", \"table_material_tries\": [\"Copper_Brushed_Medium_Light_Brushing\", \"Bronze_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Wood_Tiles_Fineline_Herringbone\", \"Woven_Metal_03_Copper_Glossy\", \"plastic_ivory_white\", \"Aluminum_Brushed\", \"Copper_Scratched_Dark_Shiny\", \"Brass_Foil_Yellow_Shiny_Wrinkled\", \"Titanium_Scratched_Scuffs_and_Grime\", \"Ceramic_Tiles_Square_Antique_White\", \"Ceramic_Tiles_Square_Brick_Gray\", \"Chromium_Foil_Heavy_Matte_Wrinkled\", \"Zinc_Foil_Heavy_Glossy_Wrinkles\", \"Nickel_Scratched_Dark_Matte\", \"Woven_Metal_01_Warmgolden_Steel\", \"Gold_Scratched_Dark_Matte\", \"Iron_Sheet_Splotchy_Streaks\", \"Iolite\", \"Silk_Charmeuse_Natural\", \"plastic_ivory_white\", \"Ruby\", \"Tungsten_Scratched_Dark_Matte\", \"Iron_Scratched_Light_Bumpy\", \"Iron_Scratched_Dark_Matte\", \"Semi_Aniline_Black\", \"Glass_Clear_Large_Frit\", \"Paint_Eggshell_Ash\", \"ABS_Hard_Leather_Deep_Ocean\", \"Spongy_Concrete_Weathered_Light_Dirt\", \"Polyethylene_Clear\", \"Pull_Up_Leather_Red_Wine\"], \"pads\": {\"1\": [-0.15684, 0.52462], \"2\": [-0.15684, 0.37462], \"3\": [-0.15684, 0.22462]}, \"pick_xy\": [-0.15684, 0.37462], \"spawn\": [-0.49376, 0.35074, 0.16293], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8613420557727, 0.0008867785516867913, -0.0018905536082031993, -0.5080211633269959], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960136\", \"dr_level\": 0, \"level_seed\": 44960139, \"level_table_material\": \"Wood_Tiles_Fineline_Chantilly\", \"level_table_material_tries\": [\"Glass_Clear_Light_Drop_Stains\", \"Paint_Gun_Metal_Black_0\", \"Titanium_Brushed_Medium_Brushing\", \"Titanium\", \"Wood_Tiles_Fineline_Chantilly\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Pull_Up_Leather_Red_Wine\", \"source_episode_index\": 13}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7475504515143991, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6609673500061035, 0.37999385595321655, 0.012000000104308128], \"quaternion\": [0.17093361297222517, 0.17093361297222523, -0.6861353364725223, -0.6861353364725225]}, \"12\": {\"position\": [-0.38943538069725037, -0.04328269883990288, 0.03657222166657448], \"quaternion\": [0.5885456421032091, 6.251101179248849e-05, -0.002087261727390044, -0.8084612956673783]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Pull_Up_Leather.mdl\", \"name\": \"Pull_Up_Leather_Red_Wine\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0409904253592022, -0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0409904253592022, -0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0409904253592022, 0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0409904253592022, 0.5688510632227155, 0.0]}, \"light_radius\": 0.10222097238844449, \"light_length\": 0.531261505941836, \"light_intensity\": 50000.0, \"light_color_temperature\": 6333.040744833621, \"center_light_postion\": [0.8292494315323944, 0.7155576065434217, 1.4484391026207828], \"center_light_orientation\": [0.9702823877425327, 0.0, 0.0, -0.24197538725384724]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Pull_Up_Leather.mdl\", \"name\": \"Pull_Up_Leather_Red_Wine\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Herringbone.mdl\", \"name\": \"Polyester_Herringbone_Beige\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7930292881138202, \"metallic_constant\": 0.3894806781056068, \"specular_level\": 0.3120656992657812}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6036404902115045, \"metallic_constant\": 0.28619714808960806, \"specular_level\": 0.8470527732706722}, {\"reflection_roughness_constant\": 0.4355629754834319, \"metallic_constant\": 0.7707295596431135, \"specular_level\": 0.5050570225621241}]}}}"}
{"episode_index": 14, "tasks": [0], "length": 1, "dataset_from_index": 14, "dataset_to_index": 14, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960146, \"answer\": \"2\", \"appearance_seed\": 13960146, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Zinc_Sheet_Glossy_Imperfections\", \"table_material_tries\": [\"Aluminum_Sheet_Glossy_Streaks\", \"White_to_Purple\", \"Woven_Metal_03_Brass_Glossy\", \"Platinum_Sheet_Splotchy_Streaks\", \"Zinc_Sheet_Glossy_Imperfections\"], \"pads\": {\"1\": [-0.15522, 0.55757], \"2\": [-0.15522, 0.40757], \"3\": [-0.15522, 0.25757]}, \"pick_xy\": [-0.15522, 0.40757], \"spawn\": [-0.45673, 0.34022, 0.25755], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8844037484402931, 0.000975194818616584, -0.0018465005309951108, -0.4667179546317174], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960146\", \"dr_level\": 0, \"level_seed\": 16960149, \"level_table_material\": \"Pigmented_Smooth_Leather_Green\", \"level_table_material_tries\": [\"Silk_Crepe_de_Chine_Sky_Blue\", \"Woven_Metal_03_Steel_Worn\", \"Pigmented_Smooth_Leather_Green\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Zinc_Sheet_Glossy_Imperfections\", \"source_episode_index\": 14}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6932959247947542, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6609585285186768, 0.44436636567115784, 0.012000000104308128], \"quaternion\": [0.10363266819820717, 0.10363266819820711, -0.6994714219195235, -0.6994714219195237]}, \"12\": {\"position\": [-0.3756231963634491, 0.012517268769443035, 0.03657222166657448], \"quaternion\": [0.6464529502914553, 0.0002159660736874025, -0.0020769997111791394, -0.7629509961264406]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3745036371842994, -1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3745036371842994, -1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3745036371842994, 1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3745036371842994, 1.0261816547100058, 0.0]}, \"light_radius\": 0.0902226352082244, \"light_length\": 1.9246904844862214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6439.618952533028, \"center_light_postion\": [0.977518290717768, 0.9768411591347133, 1.4144255259726963], \"center_light_orientation\": [0.9997500673597642, 0.0, 0.0, 0.022356270130476648]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Sheet.mdl\", \"name\": \"Zinc_Sheet_Glossy_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Matte_Coating\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9590626632497494, \"metallic_constant\": 0.5098880335282941, \"specular_level\": 0.11544216442236543}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.937796884248148, \"metallic_constant\": 0.18157730008098338, \"specular_level\": 0.7556739922039724}, {\"reflection_roughness_constant\": 0.3037220836963358, \"metallic_constant\": 0.8190345570239099, \"specular_level\": 0.60247309895253}]}}}"}
{"episode_index": 15, "tasks": [0], "length": 1, "dataset_from_index": 15, "dataset_to_index": 15, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960189, \"answer\": \"2\", \"appearance_seed\": 17960189, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Sheet_Matte_Imperfections\", \"table_material_tries\": [\"Water_Ocean_Light_Blue\", \"plastic_orange\", \"Voodoo\", \"Fabric_Carpet_Long_Floor_Blue\", \"Jelly_Red_Orange\", \"Steel_Grey_Dark_Clean_Ripple\", \"Mortar_White\", \"Facade_Plaster_Rough_Matte\", \"Iron_Sheet_Matte_Imperfections\"], \"pads\": {\"1\": [-0.16744, 0.5534], \"2\": [-0.16744, 0.4034], \"3\": [-0.16744, 0.2534]}, \"pick_xy\": [-0.16744, 0.4034], \"spawn\": [-0.46898, 0.32882, 0.1605], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8607221025764977, 0.0008844731762982996, -0.001891633248182812, -0.509070821759751], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960189\", \"dr_level\": 0, \"level_seed\": 18960192, \"level_table_material\": \"Bronze_Foil_Matte_Wrinkled\", \"level_table_material_tries\": [\"Bronze_Foil_Matte_Wrinkled\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Iron_Sheet_Matte_Imperfections\", \"source_episode_index\": 15}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7066971301762625, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.660799741744995, 0.3844127058982849, 0.012000000104308128], \"quaternion\": [0.6555077979753555, 0.6555077979753553, -0.26515943655374685, -0.2651594365537467]}, \"12\": {\"position\": [-0.3694065511226654, 0.03478125482797623, 0.03657222166657448], \"quaternion\": [0.6513523084408731, 0.00022933572058071952, -0.0020755660125584274, -0.7587725678486281]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.047001235107297, -1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.047001235107297, -1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.047001235107297, 1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.047001235107297, 1.0724909111602818, 0.0]}, \"light_radius\": 0.11378352957884955, \"light_length\": 2.096519735253196, \"light_intensity\": 50000.0, \"light_color_temperature\": 7609.127362085956, \"center_light_postion\": [0.2024992067606406, -0.4390281796887804, 1.4915300121243973], \"center_light_orientation\": [0.9802241355860577, 0.0, 0.0, -0.19789048490153813]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Sheet.mdl\", \"name\": \"Iron_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint.mdl\", \"name\": \"Chalk_Paint_Bark\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.06832492465674178, \"metallic_constant\": 0.6909589713962747, \"specular_level\": 0.4370649514880671}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8099710606158674, \"metallic_constant\": 0.9952990253486641, \"specular_level\": 0.9492612170861259}, {\"reflection_roughness_constant\": 0.6520599241764452, \"metallic_constant\": 0.9704670333651824, \"specular_level\": 0.47025371615259115}]}}}"}
{"episode_index": 16, "tasks": [0], "length": 1, "dataset_from_index": 16, "dataset_to_index": 16, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960309, \"answer\": \"2\", \"appearance_seed\": 31960309, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tire_Dusty\", \"table_material_tries\": [\"Bronze_Polished_Matte_Polish\", \"Tungsten_Foil_Heavy_Glossy_Wrinkles\", \"Fiberglass_Flat_Weave\", \"Brass_Polished_Yellow_Cloudy_Polish\", \"Mortar_Antique_White\", \"Tungsten_Glossy_Fingerprints\", \"Iron_Scratched_Dirty_Rough\", \"Fabric_Cotton_Roughly_Woven_Dark_Red\", \"Bronze_Scratched\", \"Silver_Sheet_Glossy_Imperfections\", \"Chameleon_Pigment_Golden_Green\", \"Tire_Slick\", \"Fabric_Cotton_Pique_Weave_Desert_Mist\", \"Bronze_Sheet\", \"Chalk_Paint\", \"Chromium\", \"Polyethylene_Light_Gray\", \"ABS_Hard_Leather\", \"Zinc_Brushed_Medium_Light_Brushing\", \"Brass_Scratched_Gold_Polished_Subtle_Dark_Scratches\", \"Velvet_Orange\", \"concrete_precast_sienna\", \"Tire_Dusty\"], \"pads\": {\"1\": [-0.17856, 0.57754], \"2\": [-0.17856, 0.42754], \"3\": [-0.17856, 0.27754]}, \"pick_xy\": [-0.17856, 0.42754], \"spawn\": [-0.47664, 0.34129, 0.19011], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8681650061022944, 0.0009123835531708762, -0.0018783304813384536, -0.49627125809405725], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960309\", \"dr_level\": 0, \"level_seed\": 52960312, \"level_table_material\": \"Polyester_Twill_Light_Brown\", \"level_table_material_tries\": [\"Wood_Tiles_Pine_Versailles\", \"Iron_Scratched_Light_Bumpy\", \"Wood_Tiles_Walnut_Mosaic\", \"Aluminum_Foil_Matte_Wrinkled\", \"Iron_Scratched_Dark_Matte\", \"Spongy_Concrete_Weathered_Wet_Flows\", \"Devil_Black_Ripple\", \"Chromium_Sheet\", \"concrete_precast_walnut\", \"Concrete_Rough_Mossy\", \"Brass_Foil_Yellow_Matte_Wrinkled\", \"Princess_Fire\", \"Mosaic_Multi_Color_Stone\", \"Copper_Foil_Shiny_Wrinkled\", \"Iron_Brushed_Medium_Brushing\", \"Ceramic_Tiles_Square_Dark_Gray\", \"Brass_Gold_Worn\", \"Garnet\", \"Red_Murdered_Candy_Coat\", \"Wood_Tiles_Fineline_Stackbond\", \"Polyester_Twill_Light_Brown\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tire_Dusty\", \"source_episode_index\": 16}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7217036899426377, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.675258159637451, 0.4495774805545807, 0.012000000104308128], \"quaternion\": [0.639378704879577, 0.6393787048795768, 0.30198488661937173, 0.3019848866193718]}, \"12\": {\"position\": [-0.3836119472980499, -0.04986182600259781, 0.03657222166657448], \"quaternion\": [0.564746583889832, 1.6855346553291253e-06, -0.0020881969026401714, -0.825261737520661]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_Dusty\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7051719739295508, -0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7051719739295508, -0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7051719739295508, 0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7051719739295508, 0.8435823951594328, 0.0]}, \"light_radius\": 0.08654040223944798, \"light_length\": 0.7569346761896395, \"light_intensity\": 50000.0, \"light_color_temperature\": 6276.0140783679435, \"center_light_postion\": [-0.7656242199910288, -0.16892177970036815, 1.3229345992931527], \"center_light_orientation\": [0.8245703498182279, 0.0, 0.0, -0.5657594349196885]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Other/Rubber/Tire.mdl\", \"name\": \"Tire_Dusty\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Steel_Grey.mdl\", \"name\": \"Steel_Grey_Bright\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5973931330192533, \"metallic_constant\": 0.001325419144119877, \"specular_level\": 0.4597565356841091}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9846954222484628, \"metallic_constant\": 0.934249572895266, \"specular_level\": 0.18580834833978965}, {\"reflection_roughness_constant\": 0.13327066893079187, \"metallic_constant\": 0.01325565084292435, \"specular_level\": 0.7752347011006677}]}}}"}
{"episode_index": 17, "tasks": [0], "length": 1, "dataset_from_index": 17, "dataset_to_index": 17, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960369, \"answer\": \"2\", \"appearance_seed\": 11960369, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Ceramic_Tiles_Pinwheel_White_Matte\", \"table_material_tries\": [\"Diamond\", \"Brass_Foil_Gold_Heavy_Wrinkles\", \"Ceramic_Tiles_Pinwheel_White_Matte\"], \"pads\": {\"1\": [-0.18737, 0.47656], \"2\": [-0.18737, 0.32656], \"3\": [-0.18737, 0.17656]}, \"pick_xy\": [-0.18737, 0.32656], \"spawn\": [-0.48357, 0.23612, 0.21055], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8731928266688723, 0.0009315373060444399, -0.001868905399604091, -0.48737042060929403], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960369\", \"dr_level\": 0, \"level_seed\": 27960372, \"level_table_material\": \"Petrol_Purple\", \"level_table_material_tries\": [\"Fiberglass_Yellowish\", \"Wood_Tiles_Beech_Diagonal\", \"Platinum_Brushed_Very_Strong_Brushing\", \"Silver_Foil_Heavy_Matte_Wrinkled\", \"ABS_Hard_Leather\", \"concrete_precast_light_warm_gray\", \"Brass_Brushed_Yellow_Fine\", \"Aging_Copper_State_5_of_12\", \"Blued_Steel_Cold_Matte_Smudged\", \"OSB_Wood_Shiny\", \"Polypropylene_Black\", \"plastic_black\", \"Polyester_Twill\", \"ABS_Soft_Woven_Leather_Baby_Blue\", \"Polycarbonate_Opaque\", \"Petrol_Purple\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Ceramic_Tiles_Pinwheel_White_Matte\", \"source_episode_index\": 17}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7523981197879369, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6578528881073, 0.4231407046318054, 0.012000000104308128], \"quaternion\": [0.5617153686747401, 0.5617153686747399, 0.42950651286633723, 0.42950651286633723]}, \"12\": {\"position\": [-0.38914719223976135, 0.030140362679958344, 0.03657222166657448], \"quaternion\": [0.6069232732667939, 0.00011034068441807876, -0.0020852803357305216, -0.7947576862150975]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Pinwheel.mdl\", \"name\": \"Ceramic_Tiles_Pinwheel_White_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.001539411747058, -1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.001539411747058, -1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.001539411747058, 1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.001539411747058, 1.0086960490156898, 0.0]}, \"light_radius\": 0.115794482153084, \"light_length\": 1.6213459943424793, \"light_intensity\": 50000.0, \"light_color_temperature\": 7471.165013723434, \"center_light_postion\": [-0.03969216171636414, 0.699545571615287, 1.376162454304811], \"center_light_orientation\": [0.9280779482594369, 0.0, 0.0, -0.3723859851747296]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Pinwheel.mdl\", \"name\": \"Ceramic_Tiles_Pinwheel_White_Matte\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Carpet/Fabric_Carpet_Long_Floor.mdl\", \"name\": \"Fabric_Carpet_Long_Floor_Orange\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6504229534573762, \"metallic_constant\": 0.7599796420736014, \"specular_level\": 0.8865508439843375}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.13013507454683204, \"metallic_constant\": 0.6577124407415632, \"specular_level\": 0.04781418169738161}, {\"reflection_roughness_constant\": 0.7554707720772947, \"metallic_constant\": 0.8945583130508175, \"specular_level\": 0.4770863198001858}]}}}"}
{"episode_index": 18, "tasks": [0], "length": 1, "dataset_from_index": 18, "dataset_to_index": 18, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960393, \"answer\": \"2\", \"appearance_seed\": 10960393, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Vintage_White\", \"table_material_tries\": [\"Wood_Tiles_Beech_Woodstrip\", \"Vintage_White\"], \"pads\": {\"1\": [-0.15678, 0.59037], \"2\": [-0.15678, 0.44037], \"3\": [-0.15678, 0.29037]}, \"pick_xy\": [-0.15678, 0.44037], \"spawn\": [-0.46819, 0.35927, 0.23704], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8795705292762005, 0.0009562056426463768, -0.0018564051050870038, -0.47576393669512185], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960393\", \"dr_level\": 0, \"level_seed\": 51960396, \"level_table_material\": \"Brass_Sheet_Red_Glossy_Imperfections\", \"level_table_material_tries\": [\"Taupe_Metallic\", \"Polyethylene_Light_Blue\", \"Copper_Brushed_Very_Strong_Brushing\", \"Glass_Optical_BASF\", \"Woven_Metal_01_Pure_Steel\", \"Ceramic_Tiles_Square_Black_Matte\", \"Iolite\", \"Ceramic_Tiles_Square_Antique_White\", \"Slightly_Grown_Moss\", \"Carpaint_Metallic\", \"Ceramic_Tiles_Square_Mint_Varied\", \"Polypropylene_Dark_Blue\", \"Brass_Scratched\", \"emerald_pearl\", \"Glass_Glazing_Tinted_Dark_Bronze\", \"Bronze_Knurling_Rough_Dirty\", \"Ground_Leaves_Oak_Shiny\", \"Platinum_Foil_Heavy_Glossy_Wrinkles\", \"Wood_Tiles_Fineline_Cubes\", \"Brown_Matte\", \"Tungsten_Polished\", \"Titanium_Brushed\", \"Stone_Pores_Weathered\", \"Aluminum_Sheet_Glossy_Imperfections\", \"Copper_Foil_Matte_Wrinkled\", \"White_Chameleon\", \"Ceramic_Tiles_Square_Black_Matte\", \"Copper_Sheet_Glossy_Streaks\", \"Platinum_Brushed\", \"Grog_Fired_Clay_Dried_Dirt\", \"Copper_Antique_Brushed_Crusted_Patina\", \"Copper_Foil_Matte_Wrinkled\", \"Tungsten_Sheet_Soft_Splotches\", \"Jelly\", \"Jelly\", \"Brass_Polished_Yellow_Cloudy_Polish\", \"PET_Smudged\", \"Glass_Clear_Medium_Frit\", \"Polypropylene_Ivory\", \"Tungsten_Brushed_Very_Strong_Brushing\", \"Brass_Sheet_Red_Glossy_Imperfections\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Vintage_White\", \"source_episode_index\": 18}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7501033253500483, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.664548873901367, 0.39909905195236206, 0.012000000104308128], \"quaternion\": [0.20173509063481965, 0.2017350906348196, 0.677718933781963, 0.6777189337819634]}, \"12\": {\"position\": [-0.3706637918949127, -0.067817822098732, 0.03657222166657448], \"quaternion\": [0.5910948115978256, 6.909964245585162e-05, -0.0020870539965780477, -0.8065993820559156]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl\", \"name\": \"Vintage_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5041450738272024, -0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5041450738272024, -0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5041450738272024, 0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5041450738272024, 0.9884876488088372, 0.0]}, \"light_radius\": 0.10368259885731157, \"light_length\": 1.4394363458571675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7677.104727888126, \"center_light_postion\": [-0.4777151691976068, -0.20958834085265599, 1.4858491470927766], \"center_light_orientation\": [0.9719864369090453, 0.0, 0.0, 0.23503694702080039]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl\", \"name\": \"Vintage_White\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_01.mdl\", \"name\": \"Woven_Metal_01_Pure_Steel\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6656803681504837, \"metallic_constant\": 0.8562415567894398, \"specular_level\": 0.9782403214878748}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4134167586539379, \"metallic_constant\": 0.7412312825939966, \"specular_level\": 0.927366467153199}, {\"reflection_roughness_constant\": 0.41807509995680026, \"metallic_constant\": 0.2708372380242635, \"specular_level\": 0.27233927648251055}]}}}"}
{"episode_index": 19, "tasks": [0], "length": 1, "dataset_from_index": 19, "dataset_to_index": 19, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960408, \"answer\": \"2\", \"appearance_seed\": 17960408, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Yellow_Shiny_Handled\", \"table_material_tries\": [\"Tungsten_Foil_Heavy_Glossy_Wrinkles\", \"Titanium\", \"Concrete_Polished\", \"Cotton_Roughly_Woven\", \"Aniline_Leather_Soft_Light_Brown\", \"Aluminum_Cast_Shiny\", \"Gold_Foil_Matte_Wrinkled\", \"Jelly_Dark_Red_Raspberry\", \"Bronze_Yellow_Shiny_Handled\"], \"pads\": {\"1\": [-0.16988, 0.59324], \"2\": [-0.16988, 0.44324], \"3\": [-0.16988, 0.29324]}, \"pick_xy\": [-0.16988, 0.44324], \"spawn\": [-0.46235, 0.38316, 0.21709], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8747820124846745, 0.000937644235604259, -0.0018658489844196834, -0.48451219805503154], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a2-s9960408\", \"dr_level\": 0, \"level_seed\": 37960411, \"level_table_material\": \"Iron_Sheet_Matte_Imperfections\", \"level_table_material_tries\": [\"Brass_Scratched_Gold_Medium_Glossy_Deep_Scratches\", \"Saturated_Green_Patches\", \"Polyethylene_Cloudy\", \"Polycarbonate_Cloudy_Thick\", \"Terrazzo_Speckled_Spots\", \"Feline_Dark_Green\", \"Tweed_Herringbone_Blue_Khaki\", \"Wood_Tiles_Fineline_Versailles\", \"OSB_Wood\", \"Dark_Damaged_Concrete\", \"Nickel_Scratched_Scuffs_and_Grime\", \"Wood_Tiles_Oak_Mountain_Stackbond\", \"Mulch_Dry_Contrast\", \"Tungsten_Scratched_Dirty_Rough\", \"plastic_ivory_white\", \"Ground_Leaves_Oak_Shiny\", \"PCB_Prepreg_Shiny\", \"Chromium\", \"Glass_Optical_LAF\", \"Iron_Sheet_Matte_Imperfections\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Bronze_Yellow_Shiny_Handled\", \"source_episode_index\": 19}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7293166137563888, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6401190757751465, 0.4053989350795746, 0.012000000104308128], \"quaternion\": [0.6849999172411159, 0.684999917241116, 0.17542837107966458, 0.17542837107966455]}, \"12\": {\"position\": [-0.3871951997280121, 0.01002201996743679, 0.03657222166657448], \"quaternion\": [0.625464587282774, 0.00015940000682259807, -0.0020821048924218877, -0.7802497609650668]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.199090284298964, -0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.199090284298964, -0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.199090284298964, 0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.199090284298964, 0.987226491819947, 0.0]}, \"light_radius\": 0.08927762707548646, \"light_length\": 1.1825073615242676, \"light_intensity\": 50000.0, \"light_color_temperature\": 7463.916910344524, \"center_light_postion\": [0.31181790326004233, 0.7308046549136693, 1.3841284899798032], \"center_light_orientation\": [0.9603666872823746, 0.0, 0.0, -0.27873971004913833]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9322066813107919, \"metallic_constant\": 0.4211666047686816, \"specular_level\": 0.7820437658222266}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.974133260241845, \"metallic_constant\": 0.18585283938246844, \"specular_level\": 0.8645417195066127}, {\"reflection_roughness_constant\": 0.20100121942486104, \"metallic_constant\": 0.7119846918783874, \"specular_level\": 0.29747093068543606}]}}}"}
{"episode_index": 20, "tasks": [0], "length": 1, "dataset_from_index": 20, "dataset_to_index": 20, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960020, \"answer\": \"3\", \"appearance_seed\": 27960020, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tweed_Herringbone_Olive_Green\", \"table_material_tries\": [\"Iron_Scratched_Dirty_Rough\", \"Ground_Leaves_Oak_Shiny\", \"Chalk_Paint_Rose_Ash\", \"caledonia\", \"Water_Murky_Perlinwaves_Green_Pond\", \"Water_Murky_Perlinwaves_Clear_Broth\", \"ABS_Soft_Leather\", \"Woven_Metal_03_Steel_Glossy\", \"Brass_Sheet_Gold_New_Clean\", \"Paint_Eggshell_Lime\", \"Brass_Scratched_Red_Heavy_Worn_Scratches\", \"Velvet_Orange\", \"Brass_Foil_Yellow_Shiny_Wrinkled\", \"Tungsten_Sheet_Glossy_Imperfections\", \"Titanium_Scratched_Dirty_Rough\", \"Polycarbonate_Lemon\", \"Spongy_Concrete_Weathered_Mossy_Light_Dirt\", \"Velvet_Shimmering_Dark_Red\", \"Tweed_Herringbone_Olive_Green\"], \"pads\": {\"1\": [-0.20631, 0.51601], \"2\": [-0.20631, 0.36601], \"3\": [-0.20631, 0.21601]}, \"pick_xy\": [-0.20631, 0.36601], \"spawn\": [-0.5286, 0.31943, 0.19175], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8685728784855558, 0.0009139281067114508, -0.00187757944199032, -0.49555705442478687], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960020\", \"dr_level\": 0, \"level_seed\": 47960023, \"level_table_material\": \"Zinc_Brushed_Medium_Brushing\", \"level_table_material_tries\": [\"Platinum_Scratched_Dirty_Rough\", \"Ceramic_Tiles_Square_Black_Matte\", \"Glass_Optical_LAK\", \"concrete_precast_ivory\", \"Zinc_Brushed\", \"Polycarbonate_Dark_Gray\", \"Silver_Scratched_Dirty_Rough\", \"Titanium_Scratched_Dark_Matte\", \"Ground_Hard_Court_Blue\", \"Fabric_Cotton_Pique_Weave_Carulean\", \"Chalk_Paint_Moonlight\", \"Bionic_Flare\", \"Gold_Foil_Matte_Wrinkled\", \"Chalk_Paint_Bark\", \"Brass_Scratched_Red_Subtle_Worn_Scratches\", \"Water_Murky_Perlinwaves\", \"Titanium_Scratched_Dirty_Rough\", \"Silk_Charmeuse_Lavender\", \"Chalk_Paint_Night_Watch\", \"Zinc_Brushed_Medium_Brushing\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tweed_Herringbone_Olive_Green\", \"source_episode_index\": 20}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7171871776847266, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6038501262664795, 0.44716206192970276, 0.012000000104308128], \"quaternion\": [0.5725534407753939, 0.5725534407753936, 0.4149488612543212, 0.4149488612543211]}, \"12\": {\"position\": [-0.3590582013130188, 0.06184663251042366, 0.03657222166657448], \"quaternion\": [0.6024761960274929, 9.869557415141223e-05, -0.002085863928655396, -0.7981341194630746]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8631082092345719, -1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8631082092345719, -1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8631082092345719, 1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8631082092345719, 1.2302247663985306, 0.0]}, \"light_radius\": 0.10510583830145896, \"light_length\": 1.6962239733947782, \"light_intensity\": 50000.0, \"light_color_temperature\": 7281.376888803218, \"center_light_postion\": [-0.30346862327091695, 1.0773452003572794, 1.358150553609705], \"center_light_orientation\": [0.8117373935052611, 0.0, 0.0, 0.5840226057142693]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Olive_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Pinwheel.mdl\", \"name\": \"Ceramic_Tiles_Pinwheel_Graphite_Varied\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4920594503649889, \"metallic_constant\": 0.9748505327098083, \"specular_level\": 0.47579643493728574}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.21735652579478126, \"metallic_constant\": 0.6405181625936937, \"specular_level\": 0.7092206546981662}, {\"reflection_roughness_constant\": 0.05511585154993803, \"metallic_constant\": 0.634565277560293, \"specular_level\": 0.9502726241613072}]}}}"}
{"episode_index": 21, "tasks": [0], "length": 1, "dataset_from_index": 21, "dataset_to_index": 21, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960045, \"answer\": \"3\", \"appearance_seed\": 18960045, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Scratched\", \"table_material_tries\": [\"Wood_Tiles_Ash_Chevron\", \"Platinum_Sheet_Soft_Splotches\", \"Wood_Tiles_Pine_Versailles\", \"Paint_Eggshell_Vanilla\", \"Facade_Plaster_Rough\", \"Dry_Bright_Stone\", \"Blue_Saphire\", \"Terrazzo_Shiny_Clean\", \"Chalk_Paint_Pebbles_Night_Watch\", \"Iron_Scratched\"], \"pads\": {\"1\": [-0.20899, 0.46083], \"2\": [-0.20899, 0.31083], \"3\": [-0.20899, 0.16083]}, \"pick_xy\": [-0.20899, 0.31083], \"spawn\": [-0.52371, 0.27577, 0.16287], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8613247098255399, 0.000886714001705844, -0.001890583884518396, -0.5080505719658279], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960045\", \"dr_level\": 0, \"level_seed\": 27960048, \"level_table_material\": \"Chromium_Glossy_Fingerprints\", \"level_table_material_tries\": [\"Gold_Brushed_Light_Brushing\", \"Nickel_Scratched\", \"White_to_Purple\", \"Brass_Red_New\", \"Pull_Up_Leather_Red_Oak\", \"ABS_Hard_Leather_Peach\", \"Stainless_Steel_Glossy\", \"Silver_Hammered\", \"Chromium_Glossy_Fingerprints\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Iron_Scratched\", \"source_episode_index\": 21}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.754759507380852, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6320934295654297, 0.41935914754867554, 0.012000000104308128], \"quaternion\": [0.7055457849601801, 0.70554578496018, 0.046958974913465346, 0.046958974913465346]}, \"12\": {\"position\": [-0.36746811866760254, -0.0022875622380524874, 0.03657222166657448], \"quaternion\": [0.5621285670962636, -4.931784439624936e-06, -0.0020881917590879207, -0.8270472256680121]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.420325529541009, -0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.420325529541009, -0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.420325529541009, 0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.420325529541009, 0.9633044869335283, 0.0]}, \"light_radius\": 0.11247152254402004, \"light_length\": 0.5778558591045905, \"light_intensity\": 50000.0, \"light_color_temperature\": 7851.733822585281, \"center_light_postion\": [-0.4829627119504146, -1.0145981543947462, 1.4108352439717793], \"center_light_orientation\": [0.854320710389831, 0.0, 0.0, 0.5197462109520515]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel.mdl\", \"name\": \"Nickel_Polished\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6093379283619973, \"metallic_constant\": 0.17907508827554075, \"specular_level\": 0.37922834251029236}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.14048057159023053, \"metallic_constant\": 0.4444003084556827, \"specular_level\": 0.843914450827785}, {\"reflection_roughness_constant\": 0.5475950038023373, \"metallic_constant\": 0.9305549224543742, \"specular_level\": 0.5978545947143715}]}}}"}
{"episode_index": 22, "tasks": [0], "length": 1, "dataset_from_index": 22, "dataset_to_index": 22, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960094, \"answer\": \"3\", \"appearance_seed\": 39960094, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\", \"table_material_tries\": [\"Silver_Brushed_Medium_Light_Brushing\", \"Titanium_Scratched_Light_Bumpy\", \"Voodoo\", \"Orange_Murdered_Candy_Coat\", \"Iron_Sheet\", \"Copper_Antique_Brushed_Slight_Patina\", \"Glass_Optical_BAK\", \"Copper_Foil_Matte_Wrinkled\", \"Bronze_Foil_Heavy_Wrinkles\", \"Polypropylene_Opaque\", \"Nickel_Brushed_Medium_Light_Brushing\", \"Jelly_Red_Strawberry\", \"ABS_Soft_Leather_Bone\", \"Rosa_Beta_Matte\", \"Facade_Plaster_Rough_Matte\", \"Chalk_Paint_Pebbles_Distance\", \"Agent_Gray_Matte\", \"Brass_Scratched_Yellow_Subtle_Worn_Scratches\", \"Woven_Metal_03_Brass_Polished\", \"Aluminum_Foil_Heavy_Glossy_Wrinkles\", \"Silk_Crepe_de_Chine_Forest_Green\", \"Silk_Charmeuse_Sand\", \"Electric_Blue_Metallic\", \"ABS_Soft_Woven_Leather_Dark\", \"Bronze_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Polyester_Crepe_de_Chine_Rose\", \"Water_Murky_Perlinwaves_Green_Pond\", \"plastic_black\", \"Fabric_Cotton_Fine_Woven\", \"Fabric_Cotton_Roughly_Woven_Dark_Red\", \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"], \"pads\": {\"1\": [-0.19709, 0.59641], \"2\": [-0.19709, 0.44641], \"3\": [-0.19709, 0.29641]}, \"pick_xy\": [-0.19709, 0.44641], \"spawn\": [-0.49208, 0.34569, 0.23026], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8779515927674804, 0.000949902884674789, -0.0018596380440581372, -0.47874485917647164], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960094\", \"dr_level\": 0, \"level_seed\": 65960097, \"level_table_material\": \"Copper_Antique_Brushed_Slight_Patina_Spots\", \"level_table_material_tries\": [\"Polyethylene_Clear\", \"PET_Smudged\", \"Gold_Scratched_Dark_Matte\", \"Polyester_Herringbone_Green\", \"Fadely_Yellowish_Moss\", \"Brass_Foil_Red_Matte_Wrinkled\", \"Flaming_Orange_Metallic\", \"Woven_Metal_03_Steel_Polished\", \"Elegant_Blue_Metallic\", \"PU_Split_Leather_Light_Salmon\", \"ABS_Soft_Woven_Leather_Ash\", \"plastic_orange\", \"Platinum_Scratched_Light_Bumpy\", \"Grog_Fired_Clay_Glaced\", \"Gold_Scratched_Dark_Shiny\", \"Aluminum_Brushed_Very_Strong_Brushing\", \"Paint_Eggshell_White\", \"Ceramic_Tiles_Square_Antique_White\", \"Dark_Damaged_Concrete\", \"Plastic_Thick_Translucent\", \"Fiberglass_Shiny\", \"Iron_Sheet\", \"Tungsten_Scratched_Light_Bumpy\", \"Copper_Sheet_Splotchy_Streaks\", \"Spongy_Concrete_Weathered_Light_Dirt\", \"Copper_Antique_Brushed_Slight_Patina_Spots\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\", \"source_episode_index\": 22}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7576062412255185, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.688924551010132, 0.38039639592170715, 0.012000000104308128], \"quaternion\": [0.5398526100118779, 0.5398526100118779, 0.4566827777170529, 0.4566827777170528]}, \"12\": {\"position\": [-0.3826202154159546, 0.08709598332643509, 0.03657222166657448], \"quaternion\": [0.577625930283176, 3.4450434818082626e-05, -0.0020879133872754307, -0.8162989183475319]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3415762884185312, -1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3415762884185312, -1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3415762884185312, 1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3415762884185312, 1.2443137862745615, 0.0]}, \"light_radius\": 0.10327376155181991, \"light_length\": 0.5620509268035679, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.750474751446, \"center_light_postion\": [-0.051525478826279114, -1.0559336935608743, 1.3063995471704415], \"center_light_orientation\": [0.7827338020835963, 0.0, 0.0, -0.6223566462051784]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Foil.mdl\", \"name\": \"Silver_Foil_Smudged_Foil\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6607294958031067, \"metallic_constant\": 0.47089967403808364, \"specular_level\": 0.9951738301875543}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6396544870231101, \"metallic_constant\": 0.24639436864025965, \"specular_level\": 0.12970709076468623}, {\"reflection_roughness_constant\": 0.9083863726872208, \"metallic_constant\": 0.5841423426465636, \"specular_level\": 0.8340266745883415}]}}}"}
{"episode_index": 23, "tasks": [0], "length": 1, "dataset_from_index": 23, "dataset_to_index": 23, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960110, \"answer\": \"3\", \"appearance_seed\": 12960110, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Gold_Sheet_Glossy_Imperfections\", \"table_material_tries\": [\"Gold_Scratched_Dark_Shiny\", \"Velvet_Shimmering_Dark_Red\", \"Copper_Antique_Brushed_Very_Strong_Patina\", \"Gold_Sheet_Glossy_Imperfections\"], \"pads\": {\"1\": [-0.18667, 0.528], \"2\": [-0.18667, 0.378], \"3\": [-0.18667, 0.228]}, \"pick_xy\": [-0.18667, 0.378], \"spawn\": [-0.50753, 0.38243, 0.07106], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8371039796690068, 0.0007990248926336031, -0.0019292818265286484, -0.5470398218166262], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960110\", \"dr_level\": 0, \"level_seed\": 17960113, \"level_table_material\": \"Titanium_Foil_Heavy_Matte_Wrinkled\", \"level_table_material_tries\": [\"Wood_Tiles_Poplar_Stackbond\", \"Silver_Sheet_Glossy_Imperfections\", \"Defined_Reflections_Damaged_Concrete\", \"Tungsten_Sheet_Glossy_Imperfections\", \"Titanium_Foil_Heavy_Matte_Wrinkled\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Gold_Sheet_Glossy_Imperfections\", \"source_episode_index\": 23}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7271174130998201, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.605346918106079, 0.37563827633857727, 0.012000000104308128], \"quaternion\": [0.6961107676009627, 0.6961107676009626, 0.12421674295359175, 0.12421674295359167]}, \"12\": {\"position\": [-0.37450531125068665, 0.05219006910920143, 0.03657222166657448], \"quaternion\": [0.6493400846036979, 0.00022383687815863244, -0.0020761662258109714, -0.7604952951581735]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Glossy_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.176212767208477, -1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.176212767208477, -1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.176212767208477, 1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.176212767208477, 1.1880154170658812, 0.0]}, \"light_radius\": 0.11744259804967017, \"light_length\": 1.2690314173851671, \"light_intensity\": 50000.0, \"light_color_temperature\": 6408.160727397957, \"center_light_postion\": [-0.41636960612161233, -0.6748337718010271, 1.4528917938653578], \"center_light_orientation\": [0.9900067893135399, 0.0, 0.0, 0.1410197046979467]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Sheet.mdl\", \"name\": \"Gold_Sheet_Glossy_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8904544776849975, \"metallic_constant\": 0.8940344553160304, \"specular_level\": 0.11256059037070354}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3289748309023349, \"metallic_constant\": 0.9386249937647642, \"specular_level\": 0.6540957684075113}, {\"reflection_roughness_constant\": 0.7642609439259399, \"metallic_constant\": 0.722022852313581, \"specular_level\": 0.39989906816482657}]}}}"}
{"episode_index": 24, "tasks": [0], "length": 1, "dataset_from_index": 24, "dataset_to_index": 24, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960144, \"answer\": \"3\", \"appearance_seed\": 43960144, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Foil\", \"table_material_tries\": [\"Brass_Scratched_Gold_Medium_Glossy_Deep_Scratches\", \"Ground_Hard_Court_Olive_Green\", \"Polycarbonate_Ivory\", \"Fiberglass_Shiny\", \"ABS_Soft_Woven_Leather_Ash\", \"Concrete_Rough\", \"Chalk_Paint_Pebbles_Morning_Dew\", \"ABS_Spotty_Woven_Leather_Ash\", \"Red_Murdered_Candy_Coat\", \"Zinc_Sheet_Glossy_Streaks\", \"Silver_Sheet_Matte_Imperfections\", \"Glass_Optical_LASF\", \"Chalk_Paint_Pebbles_Distance\", \"Aging_Copper_State_3_of_12\", \"Steel_Grey_Soft_Alabaster\", \"Brass_Brushed_Red_Fine\", \"Metal_Cast_Painted_Gray\", \"Plastic_Thick_Translucent_Flakes\", \"Copper_Polished\", \"Spongy_Concrete_Weathered\", \"strong_pitted_steel\", \"Copper_Sheet\", \"Wood_Tiles_Ash_Cubes\", \"Iron_Brushed_Very_Strong_Brushing\", \"Platinum_Foil_Heavy_Glossy_Wrinkles\", \"Fabric_Cotton_Fine_Woven_Petrol\", \"Fabric_Cotton_Pique_Weave_Buttercream\", \"Plastic_Thick_Translucent_Flakes\", \"Stone_Mediterranean\", \"ABS_Soft_Woven_Leather_Mint\", \"Zinc_Foil_Smudged_Foil\", \"Brass_Scratched_Gold_Subtle_Worn_Scratches\", \"Brass_Antique_Shiny_Stained\", \"Glass_Clear_Light_Mixed_Dirt\", \"Bronze_Foil\"], \"pads\": {\"1\": [-0.16965, 0.54904], \"2\": [-0.16965, 0.39904], \"3\": [-0.16965, 0.24904]}, \"pick_xy\": [-0.16965, 0.39904], \"spawn\": [-0.4825, 0.3852, 0.06636], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8358160928391893, 0.0007944887622008135, -0.0019311542537970596, -0.5490055540537699], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960144\", \"dr_level\": 0, \"level_seed\": 56960147, \"level_table_material\": \"Nickel_Scratched_Dark_Shiny\", \"level_table_material_tries\": [\"caledonia\", \"Jelly_White_Pineapple\", \"Steel_Brushed_Matte_Brushing\", \"Chalk_Paint_Summernight\", \"Copper_Brushed\", \"Facade_Brick_Red_Clinker_Painted_Terracotta\", \"Terrazzo_Shiny_Clean\", \"Chalk_Paint_Rose_Ash\", \"Wood_Tiles_Oak_Mountain_Mosaic\", \"Fabric_Cotton_Fine_Woven\", \"Aniline_Leather_Soft_Light_Brown\", \"Brass_Scratched_Gold_Medium_Glossy_Scratches\", \"Nickel_Scratched_Dark_Shiny\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Bronze_Foil\", \"source_episode_index\": 24}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7310917607920115, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.683018445968628, 0.36657893657684326, 0.012000000104308128], \"quaternion\": [0.5068904616041213, 0.5068904616041213, -0.4930132451920135, -0.4930132451920137]}, \"12\": {\"position\": [-0.3687891960144043, 0.07626490294933319, 0.03657222166657448], \"quaternion\": [0.5859767192237488, 5.58859803016302e-05, -0.0020874496167397893, -0.8103251964234031]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Foil.mdl\", \"name\": \"Bronze_Foil\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1737557820806463, -0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1737557820806463, -0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1737557820806463, 0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1737557820806463, 0.5418860136365553, 0.0]}, \"light_radius\": 0.11020978655745382, \"light_length\": 0.8263920566337601, \"light_intensity\": 50000.0, \"light_color_temperature\": 7978.169476010447, \"center_light_postion\": [-0.05606711289577815, -0.12976360731252579, 1.479651152440442], \"center_light_orientation\": [0.772425013075984, 0.0, 0.0, -0.6351059747589892]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Foil.mdl\", \"name\": \"Bronze_Foil\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Glazing_Spandrel.mdl\", \"name\": \"Glass_Glazing_Spandrel_Dark_Blue\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9658606768092783, \"metallic_constant\": 0.49837748012895244, \"specular_level\": 0.8324184601333946}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2215297294358185, \"metallic_constant\": 0.5412396645227963, \"specular_level\": 0.29741460922140417}, {\"reflection_roughness_constant\": 0.7984738582982666, \"metallic_constant\": 0.2824843904610951, \"specular_level\": 0.8461601625445675}]}}}"}
{"episode_index": 25, "tasks": [0], "length": 1, "dataset_from_index": 25, "dataset_to_index": 25, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960157, \"answer\": \"3\", \"appearance_seed\": 25960157, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Magic_Green\", \"table_material_tries\": [\"Silver_Brushed_Very_Strong_Brushing\", \"Woven_Metal_03_Steel_Polished\", \"Aluminum_Cast_Rough\", \"Copper_Foil_Matte_Wrinkled\", \"Fabric_Cotton_Pique_Weave_Inkwell\", \"Chromium_Sheet_Glossy_Imperfections\", \"Bronze_Worn\", \"Copper_Scratched_Dark_Matte\", \"Chalk_Paint_Rose_Ash\", \"Platinum_Foil_Smudged_Foil\", \"Chalk_Paint_Pebbles_Contemplation\", \"PCB_Goldfinger\", \"metallic_plastic_simple_controls\", \"White_to_Purple\", \"Gold_Hammered_Shiny\", \"Glass_Optical_FK\", \"Magic_Green\"], \"pads\": {\"1\": [-0.16125, 0.59552], \"2\": [-0.16125, 0.44552], \"3\": [-0.16125, 0.29552]}, \"pick_xy\": [-0.16125, 0.44552], \"spawn\": [-0.47922, 0.43091, 0.05929], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8338717789988823, 0.000787662924899111, -0.0019339483607276684, -0.5519542513832958], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960157\", \"dr_level\": 0, \"level_seed\": 29960160, \"level_table_material\": \"Wood_Tiles_Pine_Herringbone\", \"level_table_material_tries\": [\"Woven_Metal_03_Steel_Glossy\", \"Titanium_Sheet_Soft_Splotches\", \"plastic_orange\", \"Wood_Tiles_Pine_Herringbone\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Magic_Green\", \"source_episode_index\": 25}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7485852309923506, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6274192333221436, 0.40640777349472046, 0.012000000104308128], \"quaternion\": [0.6043035622057861, 0.6043035622057862, -0.3671746242667071, -0.36717462426670716]}, \"12\": {\"position\": [-0.3710739314556122, -0.02263677679002285, 0.03657222166657448], \"quaternion\": [0.5578535454737934, -1.570672380736392e-05, -0.0020881385117009765, -0.8299367814678255]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Magic_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2112752621350122, -0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2112752621350122, -0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2112752621350122, 0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2112752621350122, 0.5056145807729691, 0.0]}, \"light_radius\": 0.09562752383896272, \"light_length\": 0.9212723170907235, \"light_intensity\": 50000.0, \"light_color_temperature\": 7099.124766416723, \"center_light_postion\": [0.820907726946934, 1.0885947247596346, 1.3696110786084505], \"center_light_orientation\": [0.8324431579581155, 0.0, 0.0, 0.5541104481677998]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Magic_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Foil.mdl\", \"name\": \"Copper_Foil_Heavy_Matte_Wrinkled\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.1600049065179583, \"metallic_constant\": 0.5400250935214327, \"specular_level\": 0.04065289115618553}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7792183128257418, \"metallic_constant\": 0.500721842392167, \"specular_level\": 0.1323366807538795}, {\"reflection_roughness_constant\": 0.3544769033135704, \"metallic_constant\": 0.2790182828185247, \"specular_level\": 0.3133786240537211}]}}}"}
{"episode_index": 26, "tasks": [0], "length": 1, "dataset_from_index": 26, "dataset_to_index": 26, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960188, \"answer\": \"3\", \"appearance_seed\": 25960188, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Pine_Herringbone\", \"table_material_tries\": [\"Chameleon_Pigment_Desert_Fire\", \"Tungsten_Glossy_Fingerprints\", \"OSB_Wood\", \"Wood_Tiles_Walnut_Chevron\", \"White_Silver_Metallic\", \"Tungsten\", \"Mirror_Cool_Tint\", \"PCB_Solder_Mask_White_Fast\", \"Polyethylene_Yellow\", \"Chalk_Paint_Pebbles_Morning_Dew\", \"Brass_Red_Rough_Worn\", \"Wood_Tiles_Fineline_Brickbond\", \"Nickel_Scratched\", \"Fiberglass_Bumpy_Imperfections\", \"Chameleon_Pigment_Golden_Lavender\", \"Woven_Metal_03_Steel_Polished\", \"Wood_Tiles_Pine_Herringbone\"], \"pads\": {\"1\": [-0.20659, 0.57665], \"2\": [-0.20659, 0.42665], \"3\": [-0.20659, 0.27665]}, \"pick_xy\": [-0.20659, 0.42665], \"spawn\": [-0.51752, 0.35085, 0.1771], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8649200989500542, 0.0009001521131731106, -0.0018842227358706407, -0.5019052319542843], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960188\", \"dr_level\": 0, \"level_seed\": 29960191, \"level_table_material\": \"PU_Split_Leather_Blue\", \"level_table_material_tries\": [\"Nickel_Brushed_Medium_Brushing\", \"Zinc_Brushed\", \"Aniline_Leather_Soft_Light_Brown\", \"PU_Split_Leather_Blue\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Pine_Herringbone\", \"source_episode_index\": 26}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6957190682493346, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.673224925994873, 0.4094697833061218, 0.012000000104308128], \"quaternion\": [0.2974049549412671, 0.297404954941267, -0.6415218568189105, -0.6415218568189109]}, \"12\": {\"position\": [-0.3887643814086914, 0.0739753320813179, 0.03657222166657448], \"quaternion\": [0.6278312865967659, 0.00016572253131963552, -0.002081611199968636, -0.7783466547760736]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.457889658505076, -0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.457889658505076, -0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.457889658505076, 0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.457889658505076, 0.6736919869685011, 0.0]}, \"light_radius\": 0.0916379169663045, \"light_length\": 1.3498370396056183, \"light_intensity\": 50000.0, \"light_color_temperature\": 7983.1034942476945, \"center_light_postion\": [0.3240346245664991, 0.9692835896294594, 1.4720932791771664], \"center_light_orientation\": [0.9922477859098416, 0.0, 0.0, -0.1242752242283922]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5334084469688959, \"metallic_constant\": 0.7874469000340865, \"specular_level\": 0.7797611599478896}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.010849226299831649, \"metallic_constant\": 0.5904724721864139, \"specular_level\": 0.6425895842214164}, {\"reflection_roughness_constant\": 0.4251945313228883, \"metallic_constant\": 0.3994264256496607, \"specular_level\": 0.0454994499358603}]}}}"}
{"episode_index": 27, "tasks": [0], "length": 1, "dataset_from_index": 27, "dataset_to_index": 27, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960295, \"answer\": \"3\", \"appearance_seed\": 10960295, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Yellow_Shiny_Handled\", \"table_material_tries\": [\"Wood_Tiles_Oak_Mountain_Versailles\", \"Bronze_Yellow_Shiny_Handled\"], \"pads\": {\"1\": [-0.20105, 0.492], \"2\": [-0.20105, 0.342], \"3\": [-0.20105, 0.192]}, \"pick_xy\": [-0.20105, 0.342], \"spawn\": [-0.50103, 0.27428, 0.18701], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8673964313774011, 0.0009094774236465688, -0.001879739333285086, -0.4976133742822884], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960295\", \"dr_level\": 0, \"level_seed\": 26960298, \"level_table_material\": \"Polyester_Twill_Light_Brown\", \"level_table_material_tries\": [\"Iron\", \"Carbon_Fiber_Aluminized\", \"Tire\", \"Stone_Natural_Black_Matte\", \"Chromium_Foil_Shiny_Wrinkled\", \"Carbon_Fiber_Worn_Coating\", \"Platinum_Brushed_Medium_Brushing\", \"Woven_Metal_02_Gold_Matte\", \"Carpaint_Shifting_Flakes\", \"Brass_Scratched_Gold_Medium_Glossy_Scratches\", \"Silver_Sheet_Matte_Imperfections\", \"Velvet_White\", \"Aging_Copper_State_6_of_12\", \"Steel_Brushed_Medium_Brushing\", \"Fiberglass_Yellowish\", \"Polyester_Twill_Light_Brown\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Bronze_Yellow_Shiny_Handled\", \"source_episode_index\": 27}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6986148549022242, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6137545108795166, 0.4408526122570038, 0.012000000104308128], \"quaternion\": [0.5658589913549558, 0.5658589913549559, -0.42403254816435, -0.42403254816435026]}, \"12\": {\"position\": [-0.3717251121997833, 0.0017988181207329035, 0.03657222166657448], \"quaternion\": [0.5663524707973109, 5.751688475797216e-06, -0.002088189661717088, -0.8241604930185843]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3030884636598372, -0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3030884636598372, -0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3030884636598372, 0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3030884636598372, 0.9428302378031368, 0.0]}, \"light_radius\": 0.09742118075671036, \"light_length\": 2.0077485399990733, \"light_intensity\": 50000.0, \"light_color_temperature\": 7300.657876312995, \"center_light_postion\": [0.00020580334288844426, 1.044456585497163, 1.4615488776782564], \"center_light_orientation\": [0.8375039992325465, 0.0, 0.0, -0.5464311953663432]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Composite/Carbon_Fiber.mdl\", \"name\": \"Carbon_Fiber_Shiny_Coating\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.49016655170001877, \"metallic_constant\": 0.05516753260813523, \"specular_level\": 0.3523889580633147}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9466260878934154, \"metallic_constant\": 0.44276892890478514, \"specular_level\": 0.5388794269788567}, {\"reflection_roughness_constant\": 0.8264038857589394, \"metallic_constant\": 0.4899399822018504, \"specular_level\": 0.17112266839085855}]}}}"}
{"episode_index": 28, "tasks": [0], "length": 1, "dataset_from_index": 28, "dataset_to_index": 28, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960350, \"answer\": \"3\", \"appearance_seed\": 12960350, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tweed_Herringbone_Saturated_Green\", \"table_material_tries\": [\"Jelly_Clear_Orange\", \"plastic_light_blue\", \"Plastic_Thick_Translucent\", \"Tweed_Herringbone_Saturated_Green\"], \"pads\": {\"1\": [-0.2089, 0.50186], \"2\": [-0.2089, 0.35186], \"3\": [-0.2089, 0.20186]}, \"pick_xy\": [-0.2089, 0.35186], \"spawn\": [-0.54794, 0.34156, 0.09354], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.843200609355385, 0.0008206623406557597, -0.0019201777177780366, -0.5375949886425306], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960350\", \"dr_level\": 0, \"level_seed\": 46960353, \"level_table_material\": \"Nickel_Scratched_Dark_Shiny\", \"level_table_material_tries\": [\"Mirror_Cool_Tint\", \"Stone_Mediterranean_Matte\", \"Glass_Clear_Saturated_Yellow\", \"Zinc_Sheet\", \"Stucco_Dirty\", \"ABS_Hard_Leather_Vintage_Rose\", \"Paint_Eggshell_Sunny\", \"Stucco_Shiny_Rough\", \"Aluminum\", \"Plastic_Thick_Translucent\", \"Water_Murky_Perlin_Green_Lake_Med\", \"White_to_Purple\", \"Aluminum_Sheet\", \"Copper_Foil\", \"Woven_Metal_02_Gold_Matte\", \"Copper_Brushed_Very_Strong_Brushing\", \"Brass_Red_Rough_Worn\", \"Mosaic_Multi_Color_Stone_Red\", \"plastic_yellow_orange\", \"Aluminum_Brushed_Very_Strong_Brushing\", \"Zinc_Sheet_Soft_Splotches\", \"plastic_yellow_orange\", \"Wood_Tiles_Walnut_Chevron\", \"Velvet_Green\", \"Ground_Hard_Court_Olive_Green\", \"Brass_Brushed_Red_Strong\", \"Brass_Gold_New_Stained\", \"Gold_Scratched_Light_Bumpy\", \"Titanium_Sheet_Soft_Splotches\", \"Aluminum\", \"concrete_precast_walnut\", \"Steel_Grey_Soft_Alabaster\", \"Platinum_Scratched_Light_Bumpy\", \"Nickel_Scratched_Dark_Shiny\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tweed_Herringbone_Saturated_Green\", \"source_episode_index\": 28}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6932009665468681, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.673903465270996, 0.37957075238227844, 0.012000000104308128], \"quaternion\": [0.005491606454800177, 0.005491606454800162, -0.707085456121497, -0.7070854561214971]}, \"12\": {\"position\": [-0.3618570864200592, -0.0006003128946758807, 0.03657222166657448], \"quaternion\": [0.5416276682468245, -5.626361019761804e-05, -0.0020874394725091117, -0.8406159101637103]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Saturated_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5183068168452454, -0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5183068168452454, -0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5183068168452454, 0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5183068168452454, 0.5460311079772602, 0.0]}, \"light_radius\": 0.1180623137555043, \"light_length\": 2.0305591788281303, \"light_intensity\": 50000.0, \"light_color_temperature\": 6736.03680662042, \"center_light_postion\": [1.0354517425652405, 0.42691524483240384, 1.448569518939142], \"center_light_orientation\": [0.9999827562421368, 0.0, 0.0, 0.00587258191761822]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Saturated_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Dark_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.968379101833958, \"metallic_constant\": 0.6463123504311615, \"specular_level\": 0.2076543610961562}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6002283610099927, \"metallic_constant\": 0.6512850591077246, \"specular_level\": 0.03142831260809564}, {\"reflection_roughness_constant\": 0.6389147145194782, \"metallic_constant\": 0.1833140547191363, \"specular_level\": 0.08931345433072013}]}}}"}
{"episode_index": 29, "tasks": [0], "length": 1, "dataset_from_index": 29, "dataset_to_index": 29, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960365, \"answer\": \"3\", \"appearance_seed\": 14960365, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Woven_Metal_02_Brass_Pure\", \"table_material_tries\": [\"Wood_Tiles_Oak_Mountain_Brickbond\", \"Blued_Steel_Cold_Matte\", \"Concrete_Formed\", \"Polycarbonate_Cloudy\", \"Chalk_Paint_Night_Watch\", \"Woven_Metal_02_Brass_Pure\"], \"pads\": {\"1\": [-0.17789, 0.5948], \"2\": [-0.17789, 0.4448], \"3\": [-0.17789, 0.2948]}, \"pick_xy\": [-0.17789, 0.4448], \"spawn\": [-0.48578, 0.37158, 0.21945], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8753525619275948, 0.0009398431018840443, -0.001864742365331693, -0.48348064258835793], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L0\", \"source_episode\": \"hidemug2t-a3-s9960365\", \"dr_level\": 0, \"level_seed\": 21960368, \"level_table_material\": \"Titanium_Scratched\", \"level_table_material_tries\": [\"Paint_Eggshell_Leaf\", \"PCB_Goldfinger_Soft\", \"Elegant_Blue_Metallic\", \"ABS_Soft_Woven_Leather_Lavender\", \"Wood_Cork\", \"Platinum_Sheet_Soft_Splotches\", \"Titanium_Scratched\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": true, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Woven_Metal_02_Brass_Pure\", \"source_episode_index\": 29}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7734013387809292, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.694523811340332, 0.3766237199306488, 0.012000000104308128], \"quaternion\": [0.2702708033177361, 0.27027080331773595, 0.6534169364762332, 0.653416936476233]}, \"12\": {\"position\": [-0.3862245976924896, -0.03194558620452881, 0.03657222166657448], \"quaternion\": [0.5559638937378746, -2.0457454352104447e-05, -0.0020880973726782326, -0.8312038187416347]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Brass_Pure\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4046510036825892, -1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4046510036825892, -1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4046510036825892, 1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4046510036825892, 1.2349437055688948, 0.0]}, \"light_radius\": 0.09813214286275607, \"light_length\": 2.0739837166248947, \"light_intensity\": 50000.0, \"light_color_temperature\": 7821.0301855439975, \"center_light_postion\": [0.35894119280462133, 0.7259371061404627, 1.3427363012529112], \"center_light_orientation\": [0.9802907383107851, 0.0, 0.0, -0.1975602904991179]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Brass_Pure\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3187811790303555, \"metallic_constant\": 0.2608831502976614, \"specular_level\": 0.6927670864893173}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8980690162146957, \"metallic_constant\": 0.16881069792529313, \"specular_level\": 0.010045588495094182}, {\"reflection_roughness_constant\": 0.49453105297558253, \"metallic_constant\": 0.4585038203936551, \"specular_level\": 0.2117794434591348}]}}}"}
{"episode_index": 30, "tasks": [0], "length": 1, "dataset_from_index": 30, "dataset_to_index": 30, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960586, \"answer\": \"1\", \"appearance_seed\": 17960586, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Pine_Herringbone\", \"table_material_tries\": [\"Grog_Fired_Clay_Dried_Dirt\", \"Ruby\", \"Wood_Tiles_Oak_Mountain_Diagonal\", \"Grog_Fired_Clay\", \"Polypropylene_Ivory\", \"Copper_Antique_Brushed_Crusted_Patina\", \"Wood_Tiles_Ash_Versailles\", \"Nickel_Brushed_Medium_Brushing\", \"Wood_Tiles_Pine_Herringbone\"], \"pads\": {\"1\": [-0.20638, 0.59079], \"2\": [-0.20638, 0.44079], \"3\": [-0.20638, 0.29079]}, \"pick_xy\": [-0.20638, 0.44079], \"spawn\": [-0.50577, 0.41762, 0.11492], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8488985262388918, 0.000841139279309405, -0.001911296381523471, -0.5285517302784021], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960586\", \"dr_level\": 1, \"level_seed\": 46960592, \"level_table_material\": \"Nickel_Brushed\", \"level_table_material_tries\": [\"Fabric_Cotton_Pique_Weave_Rust\", \"Polyester_Crepe_de_Chine\", \"Brass_Sheet_Gold_New_Clean\", \"Platinum_Foil_Smudged_Foil\", \"Wood_Tiles_Fineline_Brickbond\", \"Rug_Carpet_Lines\", \"Velvet_White\", \"Brass_Foil_Gold_Slightly_Wrinkled\", \"Ceramic_Tiles_Pinwheel_Antique_White\", \"Nickel_Sheet_Matte_Imperfections\", \"Glass_Clear_Heavy_Smudges\", \"plastic_black\", \"Zinc_Foil_Heavy_Matte_Wrinkled\", \"ABS_Soft_Leather_Ash\", \"PCB_Goldfinger_Soft\", \"Chalk_Paint_Pebbles_Night_Watch\", \"Water_Murky_Perlin_Green_Lake_Med\", \"Zinc_Foil_Smudged_Foil\", \"Silver_Scratched_Dark_Matte\", \"Taupe_Metallic\", \"Glass_Glazing_Tinted_Light_Bronze\", \"Iron_Brushed\", \"Mirror_Smoked_Dark\", \"Granite_Polished\", \"Blood_Red\", \"Suede_Leather_Light_Blue\", \"Silk_Charmeuse_Orange\", \"Nickel_Brushed\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Pine_Herringbone\", \"source_episode_index\": 0}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7743984996727761, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6322073936462402, 0.43005040287971497, 0.012000000104308128], \"quaternion\": [0.587114675609754, 0.587114675609754, 0.3940765886013191, 0.39407658860131906]}, \"12\": {\"position\": [-0.38620418310165405, 0.03234512358903885, 0.03657222166657448], \"quaternion\": [0.581365439594473, 4.4030469195869837e-05, -0.0020877333313918944, -0.8136398866058496]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8774806865971836, -0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8774806865971836, -0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8774806865971836, 0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8774806865971836, 0.507300735373507, 0.0]}, \"light_radius\": 0.10984926601324699, \"light_length\": 1.4482311807815926, \"light_intensity\": 50000.0, \"light_color_temperature\": 6431.784308376097, \"center_light_postion\": [-0.28096851538528955, -0.33054474182345894, 1.3224779137003013], \"center_light_orientation\": [0.8862387276212235, 0.0, 0.0, 0.4632287962382249]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Herringbone\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Paseo.mdl\", \"name\": \"Ceramic_Tiles_Paseo_Mint_Varied\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5638232039926294, \"metallic_constant\": 0.5142791010381477, \"specular_level\": 0.14321466651090564}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9583543512310294, \"metallic_constant\": 0.005916539758484052, \"specular_level\": 0.42197343087114925}, {\"reflection_roughness_constant\": 0.2596712062223957, \"metallic_constant\": 0.5117925894626902, \"specular_level\": 0.8619580990132324}]}}}"}
{"episode_index": 31, "tasks": [0], "length": 1, "dataset_from_index": 31, "dataset_to_index": 31, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960689, \"answer\": \"1\", \"appearance_seed\": 13960689, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"table_material_tries\": [\"Nickel_Sheet_Glossy_Imperfections\", \"Platinum_Sheet_Matte_Imperfections\", \"Nickel_Scratched_Scuffs_and_Grime\", \"Gold_Metallic\", \"Titanium_Sheet_Matte_Imperfections\"], \"pads\": {\"1\": [-0.15935, 0.45893], \"2\": [-0.15935, 0.30893], \"3\": [-0.15935, 0.15893]}, \"pick_xy\": [-0.15935, 0.30893], \"spawn\": [-0.47188, 0.26173, 0.12878], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8525422500456706, 0.0008543689029012438, -0.0019054193561988356, -0.5226541412042198], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960689\", \"dr_level\": 1, \"level_seed\": 65960695, \"level_table_material\": \"Zinc_Rough_Crystals\", \"level_table_material_tries\": [\"Zinc_Galvanizing\", \"Polycarbonate_Lemon\", \"Rosa_Beta\", \"Onyx\", \"Polyester_Herringbone_Pastel_Blue\", \"Zinc_Scratched_Dark_Matte\", \"Fabric_Cotton_Pique_Weave_Amethyst\", \"Taupe_Metallic\", \"Rosa_Beta_Matte\", \"OSB_Wood_Splattered\", \"Iron_Glossy_Fingerprints\", \"Paint_Eggshell\", \"Aluminum_Cast_Shiny\", \"Nebular\", \"Chromium_Scratched_Dark_Matte\", \"Paint_Eggshell_Leaf\", \"Wood_Tiles_Ash_Diagonal\", \"Polycarbonate_Ivory\", \"Paint_Eggshell_Peach\", \"Copper_Sheet_Splotchy_Streaks\", \"Brass_Gold_Shiny_Handled\", \"plastic_light_blue\", \"Silver_Glossy_Fingerprints\", \"Agent_Gray_Matte\", \"Brass_Foil\", \"Golden_Flakes_Metallic\", \"Tweed_Herringbone_Dark_Blue\", \"Glass_Optical_BASF\", \"plastic_black\", \"Peridot\", \"Pigmented_Smooth_Leather\", \"Woven_Metal_01_Faint_Copper\", \"Paint_Eggshell_Vanilla\", \"tiger_skin_gold\", \"Zinc_Rough_Medium_Oxidized\", \"Wood_Tiles_Beech_Versailles\", \"Gunmetal_Matte_Metallic\", \"Cardboard_Low_Quality\", \"Stainless_Steel_Shiny_Smudged\", \"concrete_precast_light_warm_gray\", \"bark_oak_dark_contrast\", \"Gold_Scratched_Dark_Matte\", \"Platinum_Sheet_Glossy_Imperfections\", \"Gold_Sheet_Glossy_Streaks\", \"Iron_Scratched_Dark_Matte\", \"Fabric_Cotton_Pique_Weave_Amethyst\", \"Zinc_Foil_Smudged_Foil\", \"Chromium_Brushed_Very_Strong_Brushing\", \"Iron_Foil_Shiny_Wrinkled\", \"Brass_Brushed_Yellow_Medium\", \"Zinc_Rough_Crystals\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"source_episode_index\": 1}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7484481326336894, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.611788272857666, 0.44788411259651184, 0.012000000104308128], \"quaternion\": [0.5954289114327798, 0.5954289114327798, -0.3813979698818213, -0.38139796988182145]}, \"12\": {\"position\": [-0.37503302097320557, -0.058440931141376495, 0.03657222166657448], \"quaternion\": [0.6515765002214795, 0.00022994904832730593, -0.0020754981523465332, -0.7585800576010302]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3523412445722323, -0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3523412445722323, -0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3523412445722323, 0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3523412445722323, 0.6000702893532516, 0.0]}, \"light_radius\": 0.08627524429349494, \"light_length\": 1.4709971916224496, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.248422749903, \"center_light_postion\": [0.9079072075623218, 1.0354485043979187, 1.4778301259333575], \"center_light_orientation\": [0.9621902135653377, 0.0, 0.0, 0.27237840024328236]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl\", \"name\": \"Ceramic_Tiles_Glazed_Subway\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.11497819673824061, \"metallic_constant\": 0.694593047047342, \"specular_level\": 0.45505759775135224}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7036144277835862, \"metallic_constant\": 0.771501573779983, \"specular_level\": 0.2842672024432915}, {\"reflection_roughness_constant\": 0.024221913262615802, \"metallic_constant\": 0.8644621586936861, \"specular_level\": 0.3017079211547994}]}}}"}
{"episode_index": 32, "tasks": [0], "length": 1, "dataset_from_index": 32, "dataset_to_index": 32, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960690, \"answer\": \"1\", \"appearance_seed\": 36960690, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Concrete_Wall_Even\", \"table_material_tries\": [\"morning_rose\", \"PCB_Goldfinger_Soft\", \"Brass_Brushed_Yellow_Dirty_Medium\", \"Velvet_Black\", \"Polyester_Herringbone_Light_Brown\", \"Chromium_Foil_Matte_Wrinkled\", \"Mirror_Warm_Tint\", \"Platinum_Foil_Heavy_Glossy_Wrinkles\", \"Gold_Foil_Shiny_Wrinkled\", \"Feline_Dark_Green\", \"Copper_Polished\", \"Stucco_Dirty\", \"Dry_Bright_Stone\", \"Tire_Offroad\", \"Aluminum_Brushed\", \"Wood_Tiles_Fineline_Cubes\", \"Andromeda\", \"Bronze_Antique\", \"Iron_Foil_Matte_Wrinkled\", \"Jelly_White_Pineapple\", \"Paint_Eggshell_Leaf\", \"Tire_Slick\", \"Fabric_Cotton_Fine_Woven_Dark_Green\", \"Zinc\", \"Fabric_Cotton_Pique_Weave_Gray\", \"Mortar_Antique_White\", \"Titanium_Scratched_Light_Bumpy\", \"Concrete_Wall_Even\"], \"pads\": {\"1\": [-0.17711, 0.4686], \"2\": [-0.17711, 0.3186], \"3\": [-0.17711, 0.1686]}, \"pick_xy\": [-0.17711, 0.3186], \"spawn\": [-0.48712, 0.27509, 0.20639], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8721767416343955, 0.0009276461868167604, -0.0018708398374276147, -0.48918643765221476], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960690\", \"dr_level\": 1, \"level_seed\": 51960696, \"level_table_material\": \"Wood_Tiles_Fineline_Chevron\", \"level_table_material_tries\": [\"Platinum_Sheet_Glossy_Streaks\", \"Brass_Brushed_Yellow_Dirty_Medium\", \"Rosa_Beta_Matte\", \"Glass_Glazing_Tinted_Evergreen\", \"Brass_Polished_Red_Shiny_Polish\", \"Suede_Leather_Light_Blue\", \"Glass_Glazing_Spandrel\", \"concrete_precast_light_warm_gray\", \"Concrete_Polished\", \"Chalk_Paint_Summernight\", \"Polyester_Charmeuse_Orange\", \"Aluminum_Cast_Rough\", \"Rosa_Beta\", \"Wood_Tiles_Fineline_Chevron\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Concrete_Wall_Even\", \"source_episode_index\": 2}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7553635541682276, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6067593097686768, 0.3836560845375061, 0.012000000104308128], \"quaternion\": [0.7068690142117073, 0.7068690142117072, -0.018335668718899245, -0.018335668718899276]}, \"12\": {\"position\": [-0.359904021024704, 0.08917658776044846, 0.03657222166657448], \"quaternion\": [0.5783563717325411, 3.63193217231753e-05, -0.002087881714104234, -0.8157815557532698]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Wall_Even.mdl\", \"name\": \"Concrete_Wall_Even\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.010523151386619, -0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.010523151386619, -0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.010523151386619, 0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.010523151386619, 0.5063515011269245, 0.0]}, \"light_radius\": 0.1174833204744869, \"light_length\": 1.457558627095589, \"light_intensity\": 50000.0, \"light_color_temperature\": 6901.223617640339, \"center_light_postion\": [-0.6632509482942957, 0.3857775004732873, 1.3933237553031705], \"center_light_orientation\": [0.8335318076581896, 0.0, 0.0, 0.5524714704146005]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Wall_Even.mdl\", \"name\": \"Concrete_Wall_Even\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Strong\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.27817686358485216, \"metallic_constant\": 0.23015385813010147, \"specular_level\": 0.48027664522880764}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5868576773518851, \"metallic_constant\": 0.38769139906532135, \"specular_level\": 0.283864210193998}, {\"reflection_roughness_constant\": 0.24946503509734552, \"metallic_constant\": 0.5054274394122102, \"specular_level\": 0.685215547865336}]}}}"}
{"episode_index": 33, "tasks": [0], "length": 1, "dataset_from_index": 33, "dataset_to_index": 33, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960696, \"answer\": \"1\", \"appearance_seed\": 19960696, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Brass_Polished_Gold_Shiny_Polish\", \"table_material_tries\": [\"Gold_Glossy_Fingerprints\", \"Fabric_Cotton_Pique_Weave_Desert_Mist\", \"Water_Murky_Perlinwaves\", \"Silk_Charmeuse_Blue\", \"Wood_Tiles_Ash_Chevron\", \"Jade\", \"Brass_Foil_Red_Shiny_Wrinkled\", \"Gold_Metallic\", \"Ground_Aggregate_Exposed\", \"Iron_Sheet_Splotchy_Streaks\", \"Brass_Polished_Gold_Shiny_Polish\"], \"pads\": {\"1\": [-0.20498, 0.54708], \"2\": [-0.20498, 0.39708], \"3\": [-0.20498, 0.24708]}, \"pick_xy\": [-0.20498, 0.39708], \"spawn\": [-0.51205, 0.32537, 0.19652], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8697513345059587, 0.0009183998205794219, -0.0018753962020814547, -0.49348582102828387], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960696\", \"dr_level\": 1, \"level_seed\": 28960702, \"level_table_material\": \"Gold_Foil_Heavy_Glossy_Wrinkles\", \"level_table_material_tries\": [\"Brass_Gold_Rough_Worn\", \"Chameleon_Pigment_Goblin_Fire\", \"Chalk_Paint_Pebbles_Wine\", \"concrete_precast_light_gray\", \"concrete_precast_dark_charcoal\", \"Water_Murky_Perlinwaves_Dirty_Broth_Dense\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Gold_Foil_Heavy_Glossy_Wrinkles\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Brass_Polished_Gold_Shiny_Polish\", \"source_episode_index\": 3}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7089997288108537, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6881768703460693, 0.4299691319465637, 0.012000000104308128], \"quaternion\": [0.6584112380832781, 0.6584112380832782, 0.25786554939666706, 0.25786554939666695]}, \"12\": {\"position\": [-0.3867318630218506, 0.0461750291287899, 0.03657222166657448], \"quaternion\": [0.5446819929910038, -4.866975960807421e-05, -0.002087630331193968, -0.8386400693636112]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Polished.mdl\", \"name\": \"Brass_Polished_Gold_Shiny_Polish\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4343029285417404, -0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4343029285417404, -0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4343029285417404, 0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4343029285417404, 0.8057984570574623, 0.0]}, \"light_radius\": 0.10678908879386456, \"light_length\": 1.3697362772601571, \"light_intensity\": 50000.0, \"light_color_temperature\": 6883.411105558561, \"center_light_postion\": [-0.6475137572604943, -0.5289814371360722, 1.3775726200771357], \"center_light_orientation\": [0.9897620022723506, 0.0, 0.0, -0.14272763873135239]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Polished.mdl\", \"name\": \"Brass_Polished_Gold_Shiny_Polish\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Masonry/Sandstone_Brick_Vintage.mdl\", \"name\": \"Sandstone_Brick_Vintage_Black_Deposit\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7695915380203394, \"metallic_constant\": 0.3854044295042802, \"specular_level\": 0.2487859203807219}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3353927893144598, \"metallic_constant\": 0.08206642552777066, \"specular_level\": 0.4913927206585401}, {\"reflection_roughness_constant\": 0.02715735239088113, \"metallic_constant\": 0.13804569698787106, \"specular_level\": 0.08267654055850393}]}}}"}
{"episode_index": 34, "tasks": [0], "length": 1, "dataset_from_index": 34, "dataset_to_index": 34, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960709, \"answer\": \"1\", \"appearance_seed\": 27960709, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Titanium_Scratched\", \"table_material_tries\": [\"Gold_Brushed_Light_Brushing\", \"Pull_Up_Leather_Violet\", \"Silver_Glossy_Fingerprints\", \"Mirror_Smoked_Light\", \"Ground_Hard_Court_Olive_Green\", \"Laminate_Oak_Polished\", \"Woven_Metal_03_Copper_Glossy\", \"Woven_Metal_02_Steel_Brass\", \"ABS_Spotty_Woven_Leather_Ash\", \"Carbon_Fiber_Matte_Coating\", \"Polycarbonate_Yellow\", \"Brass_Scratched_Gold_Medium_Glossy_Scratches\", \"bark_oak_dark_contrast\", \"Velvet_Green\", \"Mortar_Clay\", \"ABS_Hard_Leather_Deep_Ocean\", \"Elegant_Blue_Metallic\", \"Dark_Decent_Blue\", \"Titanium_Scratched\"], \"pads\": {\"1\": [-0.19501, 0.48176], \"2\": [-0.19501, 0.33176], \"3\": [-0.19501, 0.18176]}, \"pick_xy\": [-0.19501, 0.33176], \"spawn\": [-0.51023, 0.24896, 0.23019], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8779366162775806, 0.0009498447111539198, -0.0018596677579381716, -0.4787723229572981], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960709\", \"dr_level\": 1, \"level_seed\": 69960715, \"level_table_material\": \"Semi_Aniline_Mint\", \"level_table_material_tries\": [\"Brass_Sheet_Gold_Matte_Imperfections\", \"Polyethylene_Cloudy_Rough\", \"PCB_Goldfinger\", \"Brass_Brushed_Gold_Smooth_Subtle\", \"Chromium_Foil_Matte_Wrinkled\", \"Bronze_Brushed_Yellow_Fine\", \"Fiberglass_Warped_Imperfections\", \"Wood_Tiles_Oak_Mountain_Herringbone\", \"Iron\", \"Onyx\", \"Brass_Brushed_Red_Medium\", \"Ground_Hard_Court_Olive_Green\", \"Glass_Clear_Saturated_Yellow\", \"Copper_Antique_Brushed_Worn_Matte\", \"Pearl\", \"Tungsten_Brushed_Very_Strong_Brushing\", \"Tweed_Herringbone_Black_White\", \"Glass_Optical_PSK\", \"Brown_Matte\", \"Mortar_Antique_White\", \"Polyester_Crepe_de_Chine_Anthracite\", \"Copper_Antique_Brushed_Shiny_Matte_Smudged\", \"Titanium_Scratched_Dark_Matte\", \"Gold_Brushed_Light_Brushing\", \"White_to_Purple\", \"Chromium_Sheet\", \"Silk_Crepe_de_Chine_Champagne\", \"Chromium_Foil_Matte_Wrinkled\", \"Dry_Bright_Stone\", \"Brass_Foil_Yellow_Matte_Wrinkled\", \"Polycarbonate_Cloudy_Soft\", \"Stone_Mediterranean_Warm_Shiny\", \"Chromium\", \"Nickel_Foil_Shiny_Wrinkled\", \"ABS_Soft_Leather_Salmon\", \"Brass_Antique_Shiny_Stained\", \"Pull_Up_Leather\", \"Chalk_Paint_Pebbles_Deep_Emerald\", \"Stone_Mediterranean\", \"Stainless_Steel_Milled\", \"Semi_Aniline_Mint\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Titanium_Scratched\", \"source_episode_index\": 4}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.692899445689128, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6978302001953125, 0.41192537546157837, 0.012000000104308128], \"quaternion\": [0.00910663140920585, 0.009106631409205805, 0.707048137869252, 0.707048137869252]}, \"12\": {\"position\": [-0.36626723408699036, -0.0503094345331192, 0.03657222166657448], \"quaternion\": [0.6164742025117105, 0.00013550837258404717, -0.0020837962055298975, -0.7873723369971825]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Scratched.mdl\", \"name\": \"Titanium_Scratched\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.165223055179323, -1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.165223055179323, -1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.165223055179323, 1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.165223055179323, 1.2452058148551541, 0.0]}, \"light_radius\": 0.10555679545456817, \"light_length\": 1.7394379532489417, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.181970640321, \"center_light_postion\": [-0.8865753479534679, 1.0973907219972658, 1.4132982515842865], \"center_light_orientation\": [0.9084601979375195, 0.0, 0.0, -0.4179713731385474]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Scratched.mdl\", \"name\": \"Titanium_Scratched\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Wall_Aged.mdl\", \"name\": \"Concrete_Wall_Aged_Slight_Grunge\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.781086838713161, \"metallic_constant\": 0.4946514048447933, \"specular_level\": 0.942847702523881}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7416933755874064, \"metallic_constant\": 0.2036409345920549, \"specular_level\": 0.05513417688842792}, {\"reflection_roughness_constant\": 0.5971343874300497, \"metallic_constant\": 0.5730320511297518, \"specular_level\": 0.11650343820402376}]}}}"}
{"episode_index": 35, "tasks": [0], "length": 1, "dataset_from_index": 35, "dataset_to_index": 35, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960721, \"answer\": \"1\", \"appearance_seed\": 11960721, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tweed_Herringbone_Green_Blue\", \"table_material_tries\": [\"Nickel_Foil_Heavy_Matte_Wrinkled\", \"Brass_Foil_Gold_Slightly_Wrinkled\", \"Tweed_Herringbone_Green_Blue\"], \"pads\": {\"1\": [-0.19316, 0.55663], \"2\": [-0.19316, 0.40663], \"3\": [-0.19316, 0.25663]}, \"pick_xy\": [-0.19316, 0.40663], \"spawn\": [-0.48799, 0.33123, 0.20688], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8722954829527899, 0.000928100370921962, -0.0018706145639111162, -0.4889746719933603], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960721\", \"dr_level\": 1, \"level_seed\": 16960727, \"level_table_material\": \"Woven_Metal_02_Brass_Pure\", \"level_table_material_tries\": [\"Polyethylene_Light_Gray\", \"Nickel_Foil_Matte_Wrinkled\", \"Jelly_Red_Orange\", \"Woven_Metal_02_Brass_Pure\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tweed_Herringbone_Green_Blue\", \"source_episode_index\": 5}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6927917065307228, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6207432746887207, 0.3631402254104614, 0.012000000104308128], \"quaternion\": [0.7032856168680469, 0.703285616868047, 0.07341213187566764, 0.07341213187566761]}, \"12\": {\"position\": [-0.3637266755104065, -0.03162754699587822, 0.03657222166657448], \"quaternion\": [0.5543271147554033, -2.456652251587316e-05, -0.0020880530719290524, -0.8322962749392817]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Green_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4406921824581866, -0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4406921824581866, -0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4406921824581866, 0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4406921824581866, 0.5469309310012382, 0.0]}, \"light_radius\": 0.10569506570057241, \"light_length\": 1.4619513356756622, \"light_intensity\": 50000.0, \"light_color_temperature\": 7078.851095236734, \"center_light_postion\": [-0.09244360664403306, -1.0957746030301445, 1.4931944685637912], \"center_light_orientation\": [0.7945028698741379, 0.0, 0.0, 0.6072603969976625]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Tweed_Herringbone.mdl\", \"name\": \"Tweed_Herringbone_Green_Blue\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Small_Cobblestone.mdl\", \"name\": \"Small_Cobblestone\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.22901380819565853, \"metallic_constant\": 0.8317243298522943, \"specular_level\": 0.15629438853788502}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.24877240310996818, \"metallic_constant\": 0.35527684295209105, \"specular_level\": 0.8946592360339161}, {\"reflection_roughness_constant\": 0.7945003071366106, \"metallic_constant\": 0.5396146338997373, \"specular_level\": 0.09652706619938978}]}}}"}
{"episode_index": 36, "tasks": [0], "length": 1, "dataset_from_index": 36, "dataset_to_index": 36, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960755, \"answer\": \"1\", \"appearance_seed\": 37960755, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Aluminum_Sheet_Matte_Imperfections\", \"table_material_tries\": [\"Fabric_Carpet_Long_Floor_Rose\", \"Mercury\", \"tiger_skin_gold\", \"Wood_Tiles_Fineline_Versailles\", \"Pull_Up_Leather_Red_Oak\", \"Steel_Grey_Dark_Sprinkles\", \"Wood_Tiles_Oak_Mountain_Stackbond\", \"Chalk_Paint_Pebbles_Elation\", \"Silver_Polished\", \"emerald_pearl\", \"Facade_Brick_Glaced\", \"Silver_Brushed_Very_Strong_Brushing\", \"Devil_Black\", \"Chalk_Paint_Charcoal_Blue\", \"Brass_Gold_Shiny_Handled\", \"Glass_Glazing_Spandrel_White\", \"Wood_Tiles_Walnut_Brickbond\", \"Brass_Polished_Yellow_Cloudy_Polish\", \"Spongy_Concrete_Weathered_Mossy\", \"Water_Pool_Clear_Blue\", \"Copper_Antique_Brushed_Crusted_Patina\", \"Titanium_Brushed_Medium_Brushing\", \"plastic_dark_orange\", \"Carbon_Fiber_Aluminized_Coated\", \"Agent_Gray_Matte\", \"Titanium_Foil_Smudged_Foil\", \"Wood_Tiles_Oak_Mountain_Versailles\", \"Polyethylene_Cloudy_Rough\", \"Aluminum_Sheet_Matte_Imperfections\"], \"pads\": {\"1\": [-0.17162, 0.52117], \"2\": [-0.17162, 0.37117], \"3\": [-0.17162, 0.22117]}, \"pick_xy\": [-0.17162, 0.37117], \"spawn\": [-0.47282, 0.28978, 0.24374], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8811582565219739, 0.0009624147407815063, -0.0018531937329778355, -0.4728168423332766], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960755\", \"dr_level\": 1, \"level_seed\": 58960761, \"level_table_material\": \"Woven_Metal_02_Brass_Pure\", \"level_table_material_tries\": [\"Velvet_Dark_Grey\", \"Brass_Red_Shiny_Handled\", \"Paint_Eggshell\", \"Brass_Foil_Gold_Slightly_Wrinkled\", \"Copper_Antique_Brushed_Worn_Matte\", \"Bronze_Knurling_Rough_Dirty\", \"Concrete_Rough\", \"Carbon_Fiber_Shiny_Coating\", \"Silk_Crepe_de_Chine_Rose\", \"Bright_Silver_Metallic\", \"Bronze_Shiny_Handled\", \"Nickel\", \"Glass_Clear_Saturated_Blue\", \"PCB_Solder_Mask_Yellow\", \"PCB_Coppery_Soft\", \"Water_Pool_Clear_Green\", \"Brass_Scratched_Gold_Medium_Glossy_Deep_Scratches\", \"Polyester_Twill_Brown\", \"Brass_Red_Shiny_Handled\", \"Woven_Metal_02_Brass_Pure\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Aluminum_Sheet_Matte_Imperfections\", \"source_episode_index\": 6}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7680462781635714, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6554360389709473, 0.36384689807891846, 0.012000000104308128], \"quaternion\": [0.4836523186509174, 0.4836523186509171, -0.5158298504968388, -0.5158298504968395]}, \"12\": {\"position\": [-0.3792443871498108, 0.043158046901226044, 0.03657222166657448], \"quaternion\": [0.6122888288311786, 0.00012445274776834466, -0.0020844857060662303, -0.7906314119230263]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9838778815216955, -1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9838778815216955, -1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9838778815216955, 1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9838778815216955, 1.2245777413732408, 0.0]}, \"light_radius\": 0.10244513093193154, \"light_length\": 1.3602830439976725, \"light_intensity\": 50000.0, \"light_color_temperature\": 7728.584136995303, \"center_light_postion\": [0.955678482528159, 0.587147267185103, 1.3930725547773202], \"center_light_orientation\": [0.7871673519000991, 0.0, 0.0, -0.6167394588499957]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Brickbond\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8812560460513859, \"metallic_constant\": 0.9450650495327269, \"specular_level\": 0.2782541531850483}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.8135485527507034, \"metallic_constant\": 0.6292563892894179, \"specular_level\": 0.5008088299455199}, {\"reflection_roughness_constant\": 0.13285843425688793, \"metallic_constant\": 0.8326077645284271, \"specular_level\": 0.6132209277126351}]}}}"}
{"episode_index": 37, "tasks": [0], "length": 1, "dataset_from_index": 37, "dataset_to_index": 37, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960843, \"answer\": \"1\", \"appearance_seed\": 32960843, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Brushed\", \"table_material_tries\": [\"Defined_Reflections_Damaged_Concrete\", \"Glass_Glazing_Tinted_Dark_Gray\", \"Spongy_Concrete_Weathered_Dark_Dirt\", \"Fabric_Cotton_Fine_Woven_Light_Blue\", \"Aquamarine\", \"Glass_Glazing_Spandrel_Cool_Gray\", \"Woven_Metal_02_Gold_Glossy\", \"Titanium_Foil_Shiny_Wrinkled\", \"Facade_Brick_Red_Clinker_Painted_Yellow\", \"ABS_Soft_Woven_Leather_Salmon\", \"Silk_Charmeuse_Orange\", \"Rug_Carpet_Honeycomb\", \"Glass_Clear_Light_Mixed_Dirt\", \"Silver_Hammered_Dull\", \"Facade_Brick_Red_Clinker_Painted_Yellow\", \"Bronze_Brushed_Yellow_Medium\", \"Woven_Metal_03_Steel_Glossy\", \"plastic_ivory_white\", \"ABS_Quilted_Leather_Radish\", \"Concrete_Rough_Heavy_Decay\", \"Iron_Brushed_Medium_Brushing\", \"Nickel_Sheet_Matte_Imperfections\", \"Elegant_Blue_Metallic\", \"Tungsten_Brushed\"], \"pads\": {\"1\": [-0.20417, 0.47133], \"2\": [-0.20417, 0.32133], \"3\": [-0.20417, 0.17133]}, \"pick_xy\": [-0.20417, 0.32133], \"spawn\": [-0.52302, 0.25201, 0.17011], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8631596641749856, 0.0008935575435477523, -0.0018873590176727813, -0.5049267606021504], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960843\", \"dr_level\": 1, \"level_seed\": 35960849, \"level_table_material\": \"Paint_Eggshell_Camel\", \"level_table_material_tries\": [\"Bronze_Knurling\", \"Paint_Eggshell_Camel\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tungsten_Brushed\", \"source_episode_index\": 7}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6967896980667441, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6712646484375, 0.4030912220478058, 0.012000000104308128], \"quaternion\": [0.6489365973242075, 0.6489365973242074, 0.2808581361707, 0.28085813617069993]}, \"12\": {\"position\": [-0.3566533029079437, 0.08932755142450333, 0.03657222166657448], \"quaternion\": [0.6554595552644533, 0.00024059363880562682, -0.002074291167167508, -0.7552273901570175]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Brushed.mdl\", \"name\": \"Tungsten_Brushed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.547727525901089, -0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.547727525901089, -0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.547727525901089, 0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.547727525901089, 0.9574180656456068, 0.0]}, \"light_radius\": 0.08249692325911358, \"light_length\": 0.7741763760103164, \"light_intensity\": 50000.0, \"light_color_temperature\": 6597.7299690687905, \"center_light_postion\": [-0.10542587653781799, -0.17190802051583165, 1.3481615576320602], \"center_light_orientation\": [0.9999244190196748, 0.0, 0.0, 0.012294561731344317]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Brushed.mdl\", \"name\": \"Tungsten_Brushed\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Earth\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.17867946929310607, \"metallic_constant\": 0.25353120017571285, \"specular_level\": 0.23990737468306955}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.18522382649248692, \"metallic_constant\": 0.7160654984244373, \"specular_level\": 0.48199785716477905}, {\"reflection_roughness_constant\": 0.1818119952200593, \"metallic_constant\": 0.6145525810498383, \"specular_level\": 0.3933871639276604}]}}}"}
{"episode_index": 38, "tasks": [0], "length": 1, "dataset_from_index": 38, "dataset_to_index": 38, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960900, \"answer\": \"1\", \"appearance_seed\": 31960900, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Oak_Mountain_Chantilly\", \"table_material_tries\": [\"Zinc\", \"Fiberglass_Flat_Weave\", \"plastic_dark_orange\", \"Stucco_Shiny_Rough\", \"Brass_Brushed_Gold_Smooth_Subtle\", \"Stucco_Subtle_Dirt\", \"Sandstone_Brick_Vintage\", \"Steel_Grey_Dark_Clean_Ripple\", \"Semi_Aniline_Black\", \"Mortar_Yellow\", \"Nickel_Foil_Smudged_Foil\", \"Terrazzo_Shiny_Clean\", \"Ceramic_Tiles_Paseo_Gray\", \"Polyester_Twill_Brown\", \"Bronze_Antique\", \"Fabric_Cotton_Pique_Weave_Gray\", \"Glass_Glazing_Tinted_Green\", \"Zinc_Foil_Heavy_Glossy_Wrinkles\", \"Peridot\", \"Velvet_Black\", \"Chalk_Paint_Pebbles_Moonlight\", \"Steel_Grey_Bright\", \"Wood_Tiles_Oak_Mountain_Chantilly\"], \"pads\": {\"1\": [-0.20888, 0.49398], \"2\": [-0.20888, 0.34398], \"3\": [-0.20888, 0.19398]}, \"pick_xy\": [-0.20888, 0.34398], \"spawn\": [-0.50187, 0.30163, 0.21571], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8744452414843271, 0.0009363479222223336, -0.0018664998563546094, -0.4851197368447011], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960900\", \"dr_level\": 1, \"level_seed\": 38960906, \"level_table_material\": \"Tire_Dusty\", \"level_table_material_tries\": [\"Polypropylene_Dark_Blue\", \"Stainless_Steel_Shiny_Worn\", \"Zinc_Foil_Matte_Wrinkled\", \"Wood_Tiles_Oak_Mountain_Versailles\", \"Copper_Antique_Brushed_Crusted_Patina\", \"Tire_Dusty\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Oak_Mountain_Chantilly\", \"source_episode_index\": 8}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7696988750612441, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.684969663619995, 0.35925528407096863, 0.012000000104308128], \"quaternion\": [0.4875408518947633, 0.4875408518947631, 0.5121561458517592, 0.5121561458517594]}, \"12\": {\"position\": [-0.37885716557502747, -0.06244731694459915, 0.03657222166657448], \"quaternion\": [0.5593022212152027, -1.2059660261684766e-05, -0.0020881627594170338, -0.8289611961814589]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Chantilly\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5619924210475653, -0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5619924210475653, -0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5619924210475653, 0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5619924210475653, 0.5013965900804583, 0.0]}, \"light_radius\": 0.09360589969771659, \"light_length\": 0.6961284967667893, \"light_intensity\": 50000.0, \"light_color_temperature\": 7208.371718539636, \"center_light_postion\": [0.11833011795111625, 0.7522902200695134, 1.4968962562400538], \"center_light_orientation\": [0.9999572571271337, 0.0, 0.0, 0.009245751390745464]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Oak_Mountain.mdl\", \"name\": \"Wood_Tiles_Oak_Mountain_Chantilly\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Ground_Aggregate_Exposed.mdl\", \"name\": \"Gound_Aggregate_Slightly_Mossy\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.2253920593306057, \"metallic_constant\": 0.15807353004749058, \"specular_level\": 0.46062696265996816}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.21305418886970673, \"metallic_constant\": 0.8239051908906909, \"specular_level\": 0.8587446315578514}, {\"reflection_roughness_constant\": 0.0014007131645114024, \"metallic_constant\": 0.3781918434455752, \"specular_level\": 0.367184909228658}]}}}"}
{"episode_index": 39, "tasks": [0], "length": 1, "dataset_from_index": 39, "dataset_to_index": 39, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960977, \"answer\": \"1\", \"appearance_seed\": 16960977, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Polyester_Herringbone_Silver\", \"table_material_tries\": [\"Gold_Brushed_Light_Brushing\", \"Chalk_Paint_Bark\", \"Water_Ocean_Light_Blue\", \"Glass_Optical_LF\", \"plastic_orange\", \"Tungsten_Sheet\", \"Zinc_Hammered_Shiny\", \"Polyester_Herringbone_Silver\"], \"pads\": {\"1\": [-0.19071, 0.47844], \"2\": [-0.19071, 0.32844], \"3\": [-0.19071, 0.17844]}, \"pick_xy\": [-0.19071, 0.32844], \"spawn\": [-0.51157, 0.30504, 0.13987], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8554267677382148, 0.0008649195098221535, -0.001900653410475162, -0.5179195733584565], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a1-s9960977\", \"dr_level\": 1, \"level_seed\": 42960983, \"level_table_material\": \"Paint_Eggshell_Light_Denim\", \"level_table_material_tries\": [\"PCB_Copper_Smooth\", \"Glass_Optical_LAK\", \"Copper_Foil_Matte_Wrinkled\", \"Bronze_Brushed_Yellow_Medium\", \"Nickel_Scratched_Scuffs_and_Grime\", \"Ceramic_Tiles_Square_Brick_Gray\", \"Tungsten_Sheet\", \"Tweed_Herringbone_Blue_Khaki\", \"Brass_Sheet_Yellow_Glossy_Imperfections\", \"Polypropylene_Dark_Blue\", \"Defined_Reflections_Damaged_Concrete\", \"Dry_Bright_Stone\", \"Polyethylene_Dark_Blue\", \"Bronze_Scratched_Yellow_Heavy_Worn_Scratches\", \"Chalk_Paint_Pebbles_Moonlight\", \"Brass_Polished_Red_Shiny_Worn\", \"Brass_Scratched_Red_Subtle_Worn_Scratches\", \"Mosaic_Multi_Color_Stone\", \"Rosa_Beta_Glossy_Stain\", \"Platinum_Scratched_Dirty_Rough\", \"Pearl\", \"Ground_Leaves_Oak\", \"Stone_Natural_Black_Shiny\", \"concrete_precast_light_warm_gray\", \"Paint_Eggshell_Light_Denim\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Polyester_Herringbone_Silver\", \"source_episode_index\": 9}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7092887380323544, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.699939727783203, 0.41315141320228577, 0.012000000104308128], \"quaternion\": [0.2081648303012966, 0.20816483030129665, 0.675771709548152, 0.6757717095481524]}, \"12\": {\"position\": [-0.37802961468696594, -0.04512174800038338, 0.03657222166657448], \"quaternion\": [0.65693090663257, 0.00024463778550902314, -0.0020738180969227527, -0.7539478916621261]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Herringbone.mdl\", \"name\": \"Polyester_Herringbone_Silver\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4183823979323242, -0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4183823979323242, -0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4183823979323242, 0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4183823979323242, 0.692831506531994, 0.0]}, \"light_radius\": 0.11825111811780514, \"light_length\": 1.2394188321507285, \"light_intensity\": 50000.0, \"light_color_temperature\": 7424.309769485392, \"center_light_postion\": [-0.6471555521844279, -0.9127878294102472, 1.3733123325713141], \"center_light_orientation\": [0.7131262245110235, 0.0, 0.0, -0.7010356538113117]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Herringbone.mdl\", \"name\": \"Polyester_Herringbone_Silver\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Cloudy.mdl\", \"name\": \"Polyethylene_Cloudy_Rough\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5680509455996183, \"metallic_constant\": 0.01041823508063, \"specular_level\": 0.38065272699695274}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6346606947060606, \"metallic_constant\": 0.007613345463233223, \"specular_level\": 0.6741244991732094}, {\"reflection_roughness_constant\": 0.2630369142716019, \"metallic_constant\": 0.2649748555199706, \"specular_level\": 0.7709095168362009}]}}}"}
{"episode_index": 40, "tasks": [0], "length": 1, "dataset_from_index": 40, "dataset_to_index": 40, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960455, \"answer\": \"2\", \"appearance_seed\": 15960455, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Rough\", \"table_material_tries\": [\"Brass_Brushed_Gold_Dirty_Medium\", \"Fabric_Cotton_Pique_Weave_Rust\", \"Glass_Clear_Heavy_Smudges\", \"Ceramic_Tiles_Square_Brick_Gray\", \"Zinc_Rough_Medium_Oxidized\", \"Polyester_Herringbone_Light_Brown\", \"Spongy_Concrete_Weathered_Rough\"], \"pads\": {\"1\": [-0.17917, 0.48908], \"2\": [-0.17917, 0.33908], \"3\": [-0.17917, 0.18908]}, \"pick_xy\": [-0.17917, 0.33908], \"spawn\": [-0.47385, 0.26809, 0.23374], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8787850044219753, 0.0009531439316065829, -0.001857978953288601, -0.4772133227749665], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960455\", \"dr_level\": 1, \"level_seed\": 57960461, \"level_table_material\": \"Wood_Tiles_Fineline_Chevron\", \"level_table_material_tries\": [\"Pull_Up_Leather_Blue\", \"bark_oak_dark_contrast\", \"PU_Split_Leather_Purple\", \"Plastic_Thick_Translucent\", \"Silver_Scratched_Dark_Matte\", \"Woven_Metal_03_Steel_Glossy\", \"Facade_Plaster_Rough\", \"Mercury\", \"Blued_Steel_Cold_Matte_Smudged\", \"Zinc_Polished\", \"Nickel_Scratched_Dirty_Rough\", \"Chromium\", \"Bionic_Flare\", \"Copper_Brushed\", \"Tungsten_Foil_Matte_Wrinkled\", \"Bronze_Polished_Cloudy_Polish\", \"Nickel_Scratched\", \"ABS_Soft_Woven_Leather_Salmon\", \"Gold_Sheet_Matte_Imperfections\", \"Fabric_Cotton_Roughly_Woven_Dark_Ash\", \"Wood_Tiles_Ash_Chevron\", \"Rosa_Beta_Satin\", \"Chromium_Brushed\", \"Glass_Clear_Heavy_Smudges\", \"Ceramic_Tiles_Pinwheel_Antique_White\", \"Chalk_Paint_Charcoal_Blue\", \"Terrazzo_Footprints\", \"plastic_yellow_orange\", \"Cotton_Roughly_Woven\", \"Glass_Clear_Saturated_Purple\", \"Polyester_Herringbone_Light_Brown\", \"Chromium_Foil_Heavy_Glossy_Wrinkles\", \"PCB_Prepreg_Shiny\", \"Copper_Foil\", \"Ground_Hard_Court_Dark_Green\", \"Paint_Eggshell_Leaf\", \"Morganite\", \"Carpaint_Shifting_Flakes\", \"Styrofoam\", \"Tungsten_Sheet_Matte_Imperfections\", \"Wood_Tiles_Fineline_Chevron\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Rough\", \"source_episode_index\": 10}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7324029336456749, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.672907829284668, 0.37189802527427673, 0.012000000104308128], \"quaternion\": [0.6142982156557599, 0.6142982156557597, -0.35019666223730583, -0.35019666223730594]}, \"12\": {\"position\": [-0.3715652525424957, 0.07562952488660812, 0.03657222166657448], \"quaternion\": [0.642444464634067, 0.00020507489181375714, -0.0020781033261054738, -0.7663293999918719]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.33052207487264, -0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.33052207487264, -0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.33052207487264, 0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.33052207487264, 0.8649400735190441, 0.0]}, \"light_radius\": 0.11086208262933404, \"light_length\": 0.7487767899883095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6735.423989693248, \"center_light_postion\": [-0.7592981596911366, 0.622841575502985, 1.470144105191064], \"center_light_orientation\": [0.9557130896391707, 0.0, 0.0, -0.29430000049668803]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent.mdl\", \"name\": \"plastic_simple_controls\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.007037161482576715, \"metallic_constant\": 0.5170424652241034, \"specular_level\": 0.8573054763840993}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.20916382998616279, \"metallic_constant\": 0.6928016379417068, \"specular_level\": 0.3168697964241223}, {\"reflection_roughness_constant\": 0.9273244718663826, \"metallic_constant\": 0.12934820369314382, \"specular_level\": 0.4845994309163012}]}}}"}
{"episode_index": 41, "tasks": [0], "length": 1, "dataset_from_index": 41, "dataset_to_index": 41, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960538, \"answer\": \"2\", \"appearance_seed\": 12960538, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Solder_Paste\", \"table_material_tries\": [\"Copper_Brushed\", \"Ground_Hard_Court_Blue\", \"Iron\", \"Solder_Paste\"], \"pads\": {\"1\": [-0.19626, 0.5903], \"2\": [-0.19626, 0.4403], \"3\": [-0.19626, 0.2903]}, \"pick_xy\": [-0.19626, 0.4403], \"spawn\": [-0.52864, 0.4312, 0.10691], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.846774451771383, 0.000833476291908727, -0.0019146504683748254, -0.5319479930013169], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960538\", \"dr_level\": 1, \"level_seed\": 30960544, \"level_table_material\": \"Paint_Eggshell_Taupe\", \"level_table_material_tries\": [\"Brass_Polished_Gold_Shiny_Worn\", \"Glass_Glazing_Tinted_Cool_Gray\", \"Facade_Brick_Red_Clinker_Painted_Yellow\", \"Chalk_Paint_Dark_Forest\", \"Brass_Brushed_Gold_Smooth_Subtle\", \"Fabric_Cotton_Roughly_Woven_Orange\", \"Aging_Copper_State_6_of_12\", \"Brass_Sheet_Gold_New_Clean\", \"Chromium_Foil_Shiny_Wrinkled\", \"Zinc_Sheet\", \"Glass_Clear\", \"ABS_Woven_Leather\", \"Black_Matte\", \"Nebular\", \"Nickel_Polished\", \"Polyester_Crepe_de_Chine\", \"Paint_Eggshell_Taupe\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Solder_Paste\", \"source_episode_index\": 11}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7724935438670851, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6130762100219727, 0.38606393337249756, 0.012000000104308128], \"quaternion\": [0.6758293955558479, 0.6758293955558478, 0.20797747018034773, 0.20797747018034782]}, \"12\": {\"position\": [-0.37914329767227173, 0.08529630303382874, 0.03657222166657448], \"quaternion\": [0.6394281539722332, 0.00019690724121576052, -0.002078893139047633, -0.7688480183615725]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7984861465803617, -0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7984861465803617, -0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.7984861465803617, 0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.7984861465803617, 0.6119977454429485, 0.0]}, \"light_radius\": 0.10001709454496141, \"light_length\": 1.2288747074016753, \"light_intensity\": 50000.0, \"light_color_temperature\": 6476.175835508156, \"center_light_postion\": [-0.8665570054095356, -0.03272476201903429, 1.3532225822076218], \"center_light_orientation\": [0.994662510187175, 0.0, 0.0, -0.10318183380880523]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Gun_Metal.mdl\", \"name\": \"Paint_Gun_Metal_Black_0\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.630549428480357, \"metallic_constant\": 0.24954923052672928, \"specular_level\": 0.7212859566797316}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.24710442925913578, \"metallic_constant\": 0.7092652880151519, \"specular_level\": 0.9165280700004982}, {\"reflection_roughness_constant\": 0.267200712763358, \"metallic_constant\": 0.9026403971219447, \"specular_level\": 0.21079578739701943}]}}}"}
{"episode_index": 42, "tasks": [0], "length": 1, "dataset_from_index": 42, "dataset_to_index": 42, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960566, \"answer\": \"2\", \"appearance_seed\": 17960566, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"table_material_tries\": [\"Glass_Optical_FK\", \"Voodoo\", \"plastic_light_blue\", \"PCB_Solder_Mask_Yellow_Fast\", \"Woven_Metal_03_Copper_Polished\", \"Zinc_Scratched_Dirty_Rough\", \"Wood_Tiles_Ash_Herringbone\", \"Jelly_Clear_Green_Apple\", \"Titanium_Sheet_Matte_Imperfections\"], \"pads\": {\"1\": [-0.18035, 0.51479], \"2\": [-0.18035, 0.36479], \"3\": [-0.18035, 0.21479]}, \"pick_xy\": [-0.18035, 0.36479], \"spawn\": [-0.51465, 0.35426, 0.11009], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8476215046189952, 0.000836527919724521, -0.0019133191539163624, -0.5305972336323346], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960566\", \"dr_level\": 1, \"level_seed\": 20960572, \"level_table_material\": \"Titanium_Brushed_Medium_Light_Brushing\", \"level_table_material_tries\": [\"Tungsten_Foil_Matte_Wrinkled\", \"Titanium_Brushed_Medium_Light_Brushing\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"source_episode_index\": 12}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.692209741024049, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6104307174682617, 0.4010697305202484, 0.012000000104308128], \"quaternion\": [0.44791846773688604, 0.44791846773688615, -0.5471462750126698, -0.54714627501267]}, \"12\": {\"position\": [-0.3572258949279785, 0.08540631085634232, 0.03657222166657448], \"quaternion\": [0.5692643889390963, 1.3138608302944449e-05, -0.0020881562494682315, -0.8221518685234815]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.363365246025252, -1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.363365246025252, -1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.363365246025252, 1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.363365246025252, 1.160667152215947, 0.0]}, \"light_radius\": 0.10604058567180294, \"light_length\": 1.7379349255750798, \"light_intensity\": 50000.0, \"light_color_temperature\": 7921.480769050389, \"center_light_postion\": [-0.8529065092893435, 0.4776582939074263, 1.450190601562643], \"center_light_orientation\": [0.9157613784541001, 0.0, 0.0, -0.4017226627063084]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Copper_Scratched.mdl\", \"name\": \"Copper_Scratched_Dark_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5122465588963168, \"metallic_constant\": 0.19419799462598575, \"specular_level\": 0.46203418687830144}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6791575137380892, \"metallic_constant\": 0.8250231953959757, \"specular_level\": 0.7399041168337107}, {\"reflection_roughness_constant\": 0.32397116411523563, \"metallic_constant\": 0.7351334073583093, \"specular_level\": 0.2611094259274337}]}}}"}
{"episode_index": 43, "tasks": [0], "length": 1, "dataset_from_index": 43, "dataset_to_index": 43, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960572, \"answer\": \"2\", \"appearance_seed\": 32960572, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Bark\", \"table_material_tries\": [\"Glass_Clear_Saturated_Red\", \"Matt_Damaged_Concrete\", \"Tungsten_Sheet_Glossy_Imperfections\", \"Emerald_Metallic\", \"Pigmented_Smooth_Leather_Ash_Brown\", \"Mocha_Metallic\", \"Polycarbonate_Clear\", \"Aluminum_Brushed\", \"Wood_Tiles_Fineline\", \"Glass_Clear_Heavy_Dirt_Dust\", \"Bronze_Shiny_Handled\", \"OSB_Wood_Splattered_Dense\", \"Gold_Brushed_Light_Brushing\", \"Golden_Flakes_Metallic\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Chromium_Sheet_Splotchy_Streaks\", \"Fabric_Cotton_Pique_Weave_Carulean\", \"Facade_Plaster_Rough\", \"Zinc_Glossy_Fingerprints\", \"Platinum_Sheet_Matte_Imperfections\", \"Chromium_Sheet_Glossy_Imperfections\", \"Velvet_Blue\", \"Platinum_Brushed\", \"Wood_Bark\"], \"pads\": {\"1\": [-0.16851, 0.52945], \"2\": [-0.16851, 0.37945], \"3\": [-0.16851, 0.22945]}, \"pick_xy\": [-0.16851, 0.37945], \"spawn\": [-0.46115, 0.28817, 0.22813], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8774411351078019, 0.0009479214571878916, -0.0018606488266797265, -0.4796797826170992], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960572\", \"dr_level\": 1, \"level_seed\": 44960578, \"level_table_material\": \"Petrol_Purple\", \"level_table_material_tries\": [\"Woven_Metal_03_Steel_Glossy\", \"Effect_Pigment_Metallic\", \"Wood_Tiles_Oak_Mountain_Mosaic\", \"Polypropylene_Dark_Blue\", \"Water_Murky_Perlinwaves\", \"Silk_Crepe_de_Chine_Yellow\", \"Bronze_Brushed_Yellow_Medium\", \"Granite_Polished\", \"Aquamarine\", \"Glass_Fritted\", \"Petrol_Purple\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Bark\", \"source_episode_index\": 13}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7312118747067875, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6724295616149902, 0.4416060745716095, 0.012000000104308128], \"quaternion\": [0.1478783133758761, 0.14787831337587604, -0.6914708991946851, -0.6914708991946852]}, \"12\": {\"position\": [-0.3884156048297882, -0.028146740049123764, 0.03657222166657448], \"quaternion\": [0.6113393677013708, 0.00012195058360137046, -0.0020846335889984635, -0.7913657921147104]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5733160909520874, -1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5733160909520874, -1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5733160909520874, 1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5733160909520874, 1.2379432762828289, 0.0]}, \"light_radius\": 0.08114743892631798, \"light_length\": 1.0390312609912093, \"light_intensity\": 50000.0, \"light_color_temperature\": 7201.145432035422, \"center_light_postion\": [1.0367358766781374, -0.8476421419432653, 1.4075617428069942], \"center_light_orientation\": [0.890006614134981, 0.0, 0.0, -0.45594761409178036]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Other/Food/Jelly_Clear.mdl\", \"name\": \"Jelly_Clear_Red_Strawberry\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.19799076001749016, \"metallic_constant\": 0.9457843371837518, \"specular_level\": 0.6952396725207407}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7067676030496896, \"metallic_constant\": 0.015019783501241002, \"specular_level\": 0.3082208302748657}, {\"reflection_roughness_constant\": 0.4438784352151519, \"metallic_constant\": 0.5381619739562646, \"specular_level\": 0.8366796938500011}]}}}"}
{"episode_index": 44, "tasks": [0], "length": 1, "dataset_from_index": 44, "dataset_to_index": 44, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960604, \"answer\": \"2\", \"appearance_seed\": 24960604, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\", \"table_material_tries\": [\"Polystyrene_Smudged\", \"Nickel_Scratched_Dark_Matte\", \"Zinc_Scratched_Scuffs_and_Grime\", \"Stucco\", \"Ground_Hard_Court_Light_Green\", \"Laminate_Oak\", \"Polyethylene_Cloudy_Soft\", \"Paint_Eggshell_Leaf\", \"Iron_Sheet_Soft_Splotches\", \"Copper_Antique_Brushed_Pure_Patina\", \"ABS_Soft_Woven_Leather_Lavender\", \"Polypropylene_Cloudy_Soft\", \"Zinc_Sheet\", \"Laminate_Oak_Slight_Smudges\", \"Copper_Antique_Brushed_Minimal_Patina\", \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"], \"pads\": {\"1\": [-0.1675, 0.51123], \"2\": [-0.1675, 0.36123], \"3\": [-0.1675, 0.21123]}, \"pick_xy\": [-0.1675, 0.36123], \"spawn\": [-0.47708, 0.29027, 0.15095], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8582823390117672, 0.0008754337293348688, -0.0018958335714837162, -0.5131735242306885], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960604\", \"dr_level\": 1, \"level_seed\": 49960610, \"level_table_material\": \"Tungsten_Brushed\", \"level_table_material_tries\": [\"Chromium_Foil_Shiny_Wrinkled\", \"Woven_Metal_03_Brass_Glossy\", \"Bronze_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Copper_Antique_Brushed_Shiny_Matte_Smudged\", \"Silver_Foil_Smudged_Foil\", \"Brass_Gold_Rough_Worn\", \"Wood_Tiles_Oak_Mountain_Mosaic\", \"Chalk_Paint_Pebbles_Moonlight\", \"Platinum_Brushed\", \"Bronze_Red_Shiny_Handled\", \"Chromium_Sheet_Glossy_Imperfections\", \"Brass_Foil_Red_Matte_Wrinkled\", \"Blued_Steel_Cold_Worn\", \"Velvet_Shimmering_Dark_Red\", \"OSB_Wood_Splattered\", \"Pull_Up_Leather_Light_Brown\", \"Nickel_Sheet\", \"Blued_Steel_Cold\", \"Paint_Eggshell_Peach\", \"Copper\", \"Silk_Crepe_de_Chine\", \"Brass_Brushed_Red_Fine\", \"Bronze_Foil_Heavy_Wrinkles\", \"Tungsten_Brushed\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\", \"source_episode_index\": 14}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6994209680098584, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6706416606903076, 0.44773465394973755, 0.012000000104308128], \"quaternion\": [0.39608414133369335, 0.3960841413336934, 0.5857621983227925, 0.5857621983227927]}, \"12\": {\"position\": [-0.35801956057548523, 0.06653182953596115, 0.03657222166657448], \"quaternion\": [0.5587211373640093, -1.3523068205317122e-05, -0.0020881537950657725, -0.8293529586934157]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.673448407423187, -0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.673448407423187, -0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.673448407423187, 0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.673448407423187, 0.7427382623223081, 0.0]}, \"light_radius\": 0.11652657370865419, \"light_length\": 1.5077172562846786, \"light_intensity\": 50000.0, \"light_color_temperature\": 7057.988721784153, \"center_light_postion\": [0.6327243506501941, 1.0521251935110953, 1.4319997719782245], \"center_light_orientation\": [0.94342824459922, 0.0, 0.0, -0.33157675927669333]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Scratched.mdl\", \"name\": \"Brass_Scratched_Gold_Heavy_Worn_Scratches\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Foil.mdl\", \"name\": \"Zinc_Foil_Shiny_Wrinkled\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.942901466881115, \"metallic_constant\": 0.9006537908315315, \"specular_level\": 0.3864183511644105}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.06253601285330168, \"metallic_constant\": 0.5468716237272, \"specular_level\": 0.17137606060789734}, {\"reflection_roughness_constant\": 0.4457599369084164, \"metallic_constant\": 0.8923689613774546, \"specular_level\": 0.7671367196602511}]}}}"}
{"episode_index": 45, "tasks": [0], "length": 1, "dataset_from_index": 45, "dataset_to_index": 45, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960622, \"answer\": \"2\", \"appearance_seed\": 12960622, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Paint_Eggshell_Pale_Rose\", \"table_material_tries\": [\"Bronze_Red_New\", \"Gold_Scratched\", \"Bronze_Polished_Cloudy_Polish\", \"Paint_Eggshell_Pale_Rose\"], \"pads\": {\"1\": [-0.17042, 0.50517], \"2\": [-0.17042, 0.35517], \"3\": [-0.17042, 0.20517]}, \"pick_xy\": [-0.17042, 0.35517], \"spawn\": [-0.46731, 0.26069, 0.26403], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8859115898755449, 0.000981173622796195, -0.0018433305365969637, -0.4638494306938834], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960622\", \"dr_level\": 1, \"level_seed\": 37960628, \"level_table_material\": \"Aluminum_Scratched_Dark_Matte\", \"level_table_material_tries\": [\"Stone_Mediterranean\", \"Polyester_Twill_Beige\", \"OSB_Wood_Splattered_Dense\", \"Aniline_Leather_Grunge\", \"Fabric_Cotton_Pique_Weave_Desert_Mist\", \"Silk_Charmeuse_Silver\", \"Titanium_Scratched_Light_Bumpy\", \"Brass_Polished_Red_Shiny_Polish\", \"PCB_Prepreg\", \"Polyethylene_Cloudy\", \"concrete_precast_sienna\", \"Fabric_Cotton_Pique_Weave_Green_Ash\", \"Brass_Brushed_Red_Strong\", \"ABS_Soft_Leather_Deep_Radish\", \"Gold_Metallic\", \"Glass_Clear\", \"Brass\", \"Polypropylene_Cloudy_Soft\", \"Volga_Blue_Deep_Pollished\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Brass_Scratched_Gold_Polished_Subtle_Dark_Scratches\", \"Glass_Glazing_Spandrel_Dark_Blue\", \"Zinc_Brushed_Medium_Light_Brushing\", \"Aluminum_Scratched_Dark_Matte\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Paint_Eggshell_Pale_Rose\", \"source_episode_index\": 15}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7257345244079255, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.632687568664551, 0.3517185151576996, 0.012000000104308128], \"quaternion\": [0.6044584263266669, 0.6044584263266666, 0.36691962449927606, 0.36691962449927606]}, \"12\": {\"position\": [-0.37761497497558594, 0.008944674395024776, 0.03657222166657448], \"quaternion\": [0.5638813160505901, -5.031075204421515e-07, -0.0020881975222919458, -0.8258531956951608]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Pale_Rose\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1959634585611747, -0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1959634585611747, -0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1959634585611747, 0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1959634585611747, 0.6282658556166829, 0.0]}, \"light_radius\": 0.08054131464426796, \"light_length\": 1.476313359732835, \"light_intensity\": 50000.0, \"light_color_temperature\": 7271.279387140945, \"center_light_postion\": [-0.06404798874072104, -0.0024643426423700543, 1.3299152758899146], \"center_light_orientation\": [0.997708508319515, 0.0, 0.0, 0.06765894195779626]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Pale_Rose\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Gems/Iolite.mdl\", \"name\": \"Iolite\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.751136165162219, \"metallic_constant\": 0.007362469971065155, \"specular_level\": 0.3531709594962412}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6902674211407704, \"metallic_constant\": 0.45273124794975683, \"specular_level\": 0.4283504784953839}, {\"reflection_roughness_constant\": 0.8261082976113208, \"metallic_constant\": 0.5200602933805851, \"specular_level\": 0.46641203082435667}]}}}"}
{"episode_index": 46, "tasks": [0], "length": 1, "dataset_from_index": 46, "dataset_to_index": 46, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960640, \"answer\": \"2\", \"appearance_seed\": 27960640, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"table_material_tries\": [\"Tweed_Herringbone_Brown\", \"Iron_Sheet\", \"Nickel_Brushed_Medium_Light_Brushing\", \"Wood_Tiles_Oak_Mountain_Cubes\", \"Polypropylene_Cloudy_Rough\", \"Zinc_Foil_Smudged_Foil\", \"Tungsten_Sheet_Splotchy_Streaks\", \"concrete_precast_warm_gray\", \"Jelly_Clear_Orange\", \"Nebular\", \"Morganite\", \"Emerald_Metallic\", \"Wood_Tiles_Fineline_Cubes\", \"Chromium\", \"Chalk_Paint_Pebbles_Wine\", \"OSB_Wood_Splattered\", \"Polyester_Twill\", \"Fadely_Yellowish_Moss\", \"Titanium_Sheet_Matte_Imperfections\"], \"pads\": {\"1\": [-0.17766, 0.49804], \"2\": [-0.17766, 0.34804], \"3\": [-0.17766, 0.19804]}, \"pick_xy\": [-0.17766, 0.34804], \"spawn\": [-0.47759, 0.2626, 0.24059], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8804129150484935, 0.0009594964799281287, -0.0018547063514819239, -0.47420326701391413], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960640\", \"dr_level\": 1, \"level_seed\": 33960646, \"level_table_material\": \"Pull_Up_Leather_Red_Wine\", \"level_table_material_tries\": [\"Polyester_Crepe_de_Chine\", \"Brass_Polished\", \"Chromium_Scratched_Dark_Shiny\", \"Rosa_Beta_Glossy_Stain\", \"Pull_Up_Leather_Red_Wine\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Titanium_Sheet_Matte_Imperfections\", \"source_episode_index\": 16}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7553747256195702, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.628284454345703, 0.4079243838787079, 0.012000000104308128], \"quaternion\": [0.04737243998626408, 0.04737243998626403, 0.7055181442952042, 0.7055181442952039]}, \"12\": {\"position\": [-0.38459455966949463, -0.015118169598281384, 0.03657222166657448], \"quaternion\": [0.5689019945785081, 1.2218314033300609e-05, -0.0020881618371249022, -0.8224026750901593]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9156476710117043, -0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9156476710117043, -0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9156476710117043, 0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9156476710117043, 0.5815071892059152, 0.0]}, \"light_radius\": 0.10475577861100718, \"light_length\": 1.2105056818259698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6364.158924489847, \"center_light_postion\": [0.9200639113673401, 0.28094498751643293, 1.3251958702991908], \"center_light_orientation\": [0.8252049589592454, 0.0, 0.0, -0.5648334052701469]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Matte_Imperfections\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Other/Food/Jelly_Clear.mdl\", \"name\": \"Jelly_Clear_Red_Strawberry\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.17661054693575584, \"metallic_constant\": 0.43235146634475885, \"specular_level\": 0.9618387130908884}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6601919666353511, \"metallic_constant\": 0.4279585715789932, \"specular_level\": 0.6949914172236334}, {\"reflection_roughness_constant\": 0.26813384197130463, \"metallic_constant\": 0.48574328366164554, \"specular_level\": 0.9918271976025953}]}}}"}
{"episode_index": 47, "tasks": [0], "length": 1, "dataset_from_index": 47, "dataset_to_index": 47, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960756, \"answer\": \"2\", \"appearance_seed\": 11960756, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"table_material_tries\": [\"Blood_Red\", \"Platinum_Sheet_Glossy_Imperfections\", \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"], \"pads\": {\"1\": [-0.19685, 0.45906], \"2\": [-0.19685, 0.30906], \"3\": [-0.19685, 0.15906]}, \"pick_xy\": [-0.19685, 0.30906], \"spawn\": [-0.4915, 0.23551, 0.23302], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8786127236504201, 0.000952473335619382, -0.0018583228164546512, -0.47753044015062096], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960756\", \"dr_level\": 1, \"level_seed\": 30960762, \"level_table_material\": \"Nickel_Foil\", \"level_table_material_tries\": [\"Suede_Leather_Blue\", \"Mosaic_Multi_Color_Stone\", \"Pull_Up_Leather\", \"Glass_Glazing_Tinted_Green\", \"Gold_Hammered_Shiny\", \"Ground_Leaves_Oak_Shiny\", \"Bronze_Foil_Shiny_Wrinkled\", \"Pink_Glamour_Metallic\", \"Bronze_Scratched_Yellow_Medium_Glossy_Deep_Scratches\", \"Polyester_Herringbone_Light_Brown\", \"Stone_Pores_Weathered\", \"Silver_Brushed_Medium_Light_Brushing\", \"Copper_Sheet_Soft_Splotches\", \"ABS_Soft_Leather_Cognac\", \"concrete_precast_dark_charcoal\", \"Spongy_Concrete_Weathered_Wet_Flows\", \"Titanium_Polished\", \"Nickel_Foil\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"source_episode_index\": 17}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7197201001922326, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.61194109916687, 0.3666647970676422, 0.012000000104308128], \"quaternion\": [0.03057445940619, 0.030574459406189983, 0.7064454702466559, 0.7064454702466564]}, \"12\": {\"position\": [-0.3799205422401428, 0.06907949596643448, 0.03657222166657448], \"quaternion\": [0.6259927111475565, 0.00016080965705525166, -0.002081996493613514, -0.7798261120410025]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2297815974204136, -0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2297815974204136, -0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.2297815974204136, 0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.2297815974204136, 0.7891642968100486, 0.0]}, \"light_radius\": 0.10317907816424887, \"light_length\": 0.6776875068246859, \"light_intensity\": 50000.0, \"light_color_temperature\": 7917.802446650656, \"center_light_postion\": [-0.23522695907865587, 0.1139624759144835, 1.331042616082874], \"center_light_orientation\": [0.7470557610957935, 0.0, 0.0, -0.6647613781001305]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Woodstrip\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.39702793334100706, \"metallic_constant\": 0.66646097878789, \"specular_level\": 0.09510430900847655}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7684520232614166, \"metallic_constant\": 0.5481194193288104, \"specular_level\": 0.9761060552800458}, {\"reflection_roughness_constant\": 0.39869741523213664, \"metallic_constant\": 0.11686814258850386, \"specular_level\": 0.34685864097144703}]}}}"}
{"episode_index": 48, "tasks": [0], "length": 1, "dataset_from_index": 48, "dataset_to_index": 48, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960789, \"answer\": \"2\", \"appearance_seed\": 12960789, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Plaster_Wall_Cracked\", \"table_material_tries\": [\"Polycarbonate_Spectral_Clear\", \"Velvet_Orange\", \"Chromium_Polished\", \"Plaster_Wall_Cracked\"], \"pads\": {\"1\": [-0.15567, 0.49442], \"2\": [-0.15567, 0.34442], \"3\": [-0.15567, 0.19442]}, \"pick_xy\": [-0.15567, 0.34442], \"spawn\": [-0.45468, 0.32181, 0.13984], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.855419016438455, 0.0008648910644743306, -0.001900666354680463, -0.5179323756498735], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960789\", \"dr_level\": 1, \"level_seed\": 28960795, \"level_table_material\": \"Copper_Antique_Brushed_Slight_Patina_Spots\", \"level_table_material_tries\": [\"Stone_Natural_Black_Shiny\", \"Copper_Foil_Heavy_Matte_Wrinkled\", \"Pigmented_Smooth_Leather\", \"Paint_Gun_Metal_Black_0\", \"Aluminum_Brushed_Medium_Brushing\", \"Glass_Optical_LF\", \"Steel_Grey_Alabaster\", \"Chalk_Paint\", \"Nickel_Sheet_Glossy_Imperfections\", \"Silver_Scratched\", \"castor_brown\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"Platinum_Scratched_Dark_Shiny\", \"ABS_Hard_Leather_Vintage_Rose\", \"Copper_Antique_Brushed_Slight_Patina_Spots\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Plaster_Wall_Cracked\", \"source_episode_index\": 18}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7619963041899653, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.653512954711914, 0.44264063239097595, 0.012000000104308128], \"quaternion\": [0.6812256921146842, 0.681225692114684, -0.18955620908550985, -0.18955620908550994]}, \"12\": {\"position\": [-0.3804883360862732, 0.023535331711173058, 0.03657222166657448], \"quaternion\": [0.6485732449355385, 0.00022174417841218567, -0.002076390778384951, -0.7611493844079759]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall_Cracked\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.400360511426528, -0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.400360511426528, -0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.400360511426528, 0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.400360511426528, 0.9032484480577982, 0.0]}, \"light_radius\": 0.11909766053685583, \"light_length\": 0.8356006048452549, \"light_intensity\": 50000.0, \"light_color_temperature\": 6355.439361542507, \"center_light_postion\": [0.6494799820983193, 1.0228810132085497, 1.4091341761079255], \"center_light_orientation\": [0.9542072226510188, 0.0, 0.0, 0.29914641271562836]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Plaster/Plaster_Wall.mdl\", \"name\": \"Plaster_Wall_Cracked\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Steel_Grey.mdl\", \"name\": \"Steel_Grey_Dust\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9168355038781355, \"metallic_constant\": 0.09700615701531523, \"specular_level\": 0.6350203131987177}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5461371672075852, \"metallic_constant\": 0.34575660892626137, \"specular_level\": 0.8186590737665905}, {\"reflection_roughness_constant\": 0.7783056681096563, \"metallic_constant\": 0.08343182560796214, \"specular_level\": 0.04396098537360582}]}}}"}
{"episode_index": 49, "tasks": [0], "length": 1, "dataset_from_index": 49, "dataset_to_index": 49, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960839, \"answer\": \"2\", \"appearance_seed\": 13960839, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Mortar_Sand_White\", \"table_material_tries\": [\"Concrete_Wall_Aged\", \"Ceramic_Tiles_Paseo_Gray_Matte_Varied\", \"Bronze_Foil_Heavy_Wrinkles\", \"Polycarbonate_Spectral_Clear\", \"Mortar_Sand_White\"], \"pads\": {\"1\": [-0.19728, 0.58918], \"2\": [-0.19728, 0.43918], \"3\": [-0.19728, 0.28918]}, \"pick_xy\": [-0.19728, 0.43918], \"spawn\": [-0.52062, 0.39327, 0.17229], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8637081959730596, 0.0008956092723958124, -0.0018863862744465947, -0.5039878883860386], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a2-s9960839\", \"dr_level\": 1, \"level_seed\": 24960845, \"level_table_material\": \"Ground_Hard_Court_Faded_Blue\", \"level_table_material_tries\": [\"Polyester_Twill_Brown\", \"Chromium_Foil_Matte_Wrinkled\", \"Polyethylene_Light_Gray\", \"Woven_Metal_02_Gold_Glossy\", \"Wood_Tiles_Pine_Chevron\", \"Polypropylene_Clear\", \"Nickel_Scratched_Dirty_Rough\", \"Shiny_Damaged_Concrete\", \"Aluminum_Cast_Shiny\", \"Ground_Hard_Court_Faded_Blue\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Mortar_Sand_White\", \"source_episode_index\": 19}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7166922251419552, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6385204792022705, 0.35172387957572937, 0.012000000104308128], \"quaternion\": [0.23753700602391342, 0.23753700602391348, 0.6660151430479602, 0.6660151430479605]}, \"12\": {\"position\": [-0.3515593707561493, -0.042866770178079605, 0.03657222166657448], \"quaternion\": [0.6045470391101905, 0.00010411254532070039, -0.0020856005665343957, -0.7965667058909486]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Mortar.mdl\", \"name\": \"Mortar_Sand_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.427917082443286, -0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.427917082443286, -0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.427917082443286, 0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.427917082443286, 0.8614290536871445, 0.0]}, \"light_radius\": 0.09173578170419286, \"light_length\": 0.5806316027042508, \"light_intensity\": 50000.0, \"light_color_temperature\": 7053.192408382305, \"center_light_postion\": [-0.5119275608551835, 0.04931245150351904, 1.4290119967840422], \"center_light_orientation\": [0.989658354512352, 0.0, 0.0, -0.14344455843253134]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Mortar.mdl\", \"name\": \"Mortar_Sand_White\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Aluminum_Sheet.mdl\", \"name\": \"Aluminum_Sheet_Soft_Splotches\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7175171561158064, \"metallic_constant\": 0.7585226182799796, \"specular_level\": 0.619249516450636}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.947542912858897, \"metallic_constant\": 0.6293623712372377, \"specular_level\": 0.5595476216671051}, {\"reflection_roughness_constant\": 0.6331264431446836, \"metallic_constant\": 0.1865242354443133, \"specular_level\": 0.5262514232662665}]}}}"}
{"episode_index": 50, "tasks": [0], "length": 1, "dataset_from_index": 50, "dataset_to_index": 50, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960558, \"answer\": \"3\", \"appearance_seed\": 16960558, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Brushed_Medium_Light_Brushing\", \"table_material_tries\": [\"Wood_Tiles_Oak_Mountain_Cubes\", \"Spongy_Concrete_Weathered_Mossy_Rough\", \"Aluminum_Brushed\", \"Copper_Sheet_Glossy_Streaks\", \"Aging_Copper_State_5_of_12\", \"ABS_Hard_Leather_Peach\", \"Pigmented_Smooth_Leather_Light_Blue\", \"Iron_Brushed_Medium_Light_Brushing\"], \"pads\": {\"1\": [-0.18792, 0.54909], \"2\": [-0.18792, 0.39909], \"3\": [-0.18792, 0.24909]}, \"pick_xy\": [-0.18792, 0.39909], \"spawn\": [-0.5032, 0.32196, 0.26622], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8864179167978781, 0.0009831872743084025, -0.0018422572917103281, -0.4628811037518871], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960558\", \"dr_level\": 1, \"level_seed\": 33960564, \"level_table_material\": \"Gold_Foil_Heavy_Glossy_Wrinkles\", \"level_table_material_tries\": [\"Terrazzo_Speckled_Spots\", \"golden_galaxy\", \"Brass_Polished_Gold_Matte_Polish\", \"Wood_Tiles_Oak_Mountain_Chevron\", \"plastic_yellow_orange\", \"Polyester_Twill_Beige\", \"Nickel_Brushed_Very_Strong_Brushing\", \"Wood_Tiles_Fineline_Diagonal\", \"Polyethylene_Cloudy_Soft\", \"Velvet_Green\", \"Bronze_Antique_Matte_Dirty\", \"PU_Split_Leather_Purple\", \"plastic_simple_controls\", \"Fabric_Cotton_Pique_Weave_Buttercream\", \"OSB_Wood_Splattered\", \"Gold_Foil_Heavy_Glossy_Wrinkles\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Iron_Brushed_Medium_Light_Brushing\", \"source_episode_index\": 20}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7000672985267007, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.691121816635132, 0.43100422620773315, 0.012000000104308128], \"quaternion\": [0.16701497394164588, 0.16701497394164586, 0.6870997005378996, 0.6870997005378995]}, \"12\": {\"position\": [-0.36390429735183716, -0.021185006946325302, 0.03657222166657448], \"quaternion\": [0.5518918492907633, -3.067003551786991e-05, -0.0020879723403682826, -0.8339130806728455]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Medium_Light_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0779581664720026, -0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0779581664720026, -0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0779581664720026, 0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0779581664720026, 0.6598996463864878, 0.0]}, \"light_radius\": 0.08867076025552151, \"light_length\": 1.4680700085724538, \"light_intensity\": 50000.0, \"light_color_temperature\": 7762.67525813984, \"center_light_postion\": [0.0941940378543129, 0.6434534011145798, 1.353086232472877], \"center_light_orientation\": [0.9563692225192528, 0.0, 0.0, -0.2921607609141241]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Medium_Light_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Polyester_Crepe_de_Chine.mdl\", \"name\": \"Polyester_Crepe_de_Chine_Anthracite\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.62573289752212, \"metallic_constant\": 0.16011687635428706, \"specular_level\": 0.05280277667011479}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2279083294735884, \"metallic_constant\": 0.007298872019017133, \"specular_level\": 0.5265723869278726}, {\"reflection_roughness_constant\": 0.21523915431185447, \"metallic_constant\": 0.6432115144968824, \"specular_level\": 0.34352425955294863}]}}}"}
{"episode_index": 51, "tasks": [0], "length": 1, "dataset_from_index": 51, "dataset_to_index": 51, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960571, \"answer\": \"3\", \"appearance_seed\": 17960571, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"table_material_tries\": [\"Wood_Tiles_Poplar_Stackbond\", \"Bronze_Brushed_Yellow_Medium\", \"Copper_Antique_Brushed_Crusted_Patina\", \"Iron_Scratched_Dark_Matte\", \"Glass_Optical_SSK\", \"Rug_Carpet_Honeycomb\", \"Polycarbonate_Spectral_Clear\", \"Glass_Clear_Heavy_Smudges\", \"Tungsten_Scratched_Dark_Shiny\"], \"pads\": {\"1\": [-0.20558, 0.50393], \"2\": [-0.20558, 0.35393], \"3\": [-0.20558, 0.20393]}, \"pick_xy\": [-0.20558, 0.35393], \"spawn\": [-0.49597, 0.27699, 0.27113], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8875516238029467, 0.0009877070735982206, -0.0018398380042780665, -0.46070354298139266], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960571\", \"dr_level\": 1, \"level_seed\": 25960577, \"level_table_material\": \"Suede_Leather_Chocolate_Brown\", \"level_table_material_tries\": [\"Platinum_Sheet_Glossy_Streaks\", \"Chalk_Paint_Charcoal_Blue\", \"Aluminum_Foil\", \"Copper_Brushed_Medium_Light_Brushing\", \"Titanium_Foil_Smudged_Foil\", \"Zinc_Sheet_Soft_Splotches\", \"Suede_Leather_Chocolate_Brown\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"source_episode_index\": 21}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7235909570727248, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.602001190185547, 0.3503253757953644, 0.012000000104308128], \"quaternion\": [0.7004716628575843, 0.7004716628575841, 0.09664082746712555, 0.09664082746712557]}, \"12\": {\"position\": [-0.37566548585891724, -0.05338536575436592, 0.03657222166657448], \"quaternion\": [0.5506608883213445, -3.375060885741957e-05, -0.0020879248170430076, -0.8347264375254939]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.953504127433237, -1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.953504127433237, -1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.953504127433237, 1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.953504127433237, 1.1007683574338354, 0.0]}, \"light_radius\": 0.08268466016671984, \"light_length\": 0.911241258159341, \"light_intensity\": 50000.0, \"light_color_temperature\": 7356.256873388162, \"center_light_postion\": [-0.005044525704174685, 0.054317409601321476, 1.3328051620246963], \"center_light_orientation\": [0.838832085534811, 0.0, 0.0, -0.5443902389621984]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", \"name\": \"Suede_Leather_Blue\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9762401703844332, \"metallic_constant\": 0.59720909626714, \"specular_level\": 0.7621049474855855}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5393771187900807, \"metallic_constant\": 0.873102225393119, \"specular_level\": 0.27590404153897186}, {\"reflection_roughness_constant\": 0.8196773015951697, \"metallic_constant\": 0.6983869154182741, \"specular_level\": 0.5954976680094591}]}}}"}
{"episode_index": 52, "tasks": [0], "length": 1, "dataset_from_index": 52, "dataset_to_index": 52, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960642, \"answer\": \"3\", \"appearance_seed\": 20960642, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Mortar_Sand_White\", \"table_material_tries\": [\"Chromium_Brushed_Medium_Light_Brushing\", \"Golden_Yellow_Metallic\", \"Ground_Hard_Court_Dark_Green\", \"concrete_precast_dark_charcoal\", \"Glass_Clear_Large_Frit\", \"Carbon_Fiber_Matte_Uncoated\", \"Glass_Optical_SK\", \"White_to_Purple\", \"Chromium_Scratched_Scuffs_and_Grime\", \"Wood_Tiles_Pine\", \"Fiberglass_Imperfections\", \"Mortar_Sand_White\"], \"pads\": {\"1\": [-0.20944, 0.58452], \"2\": [-0.20944, 0.43452], \"3\": [-0.20944, 0.28452]}, \"pick_xy\": [-0.20944, 0.43452], \"spawn\": [-0.51301, 0.39734, 0.12634], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8519036901188846, 0.0008520426091667361, -0.0019064607358627137, -0.5236943213294208], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960642\", \"dr_level\": 1, \"level_seed\": 24960648, \"level_table_material\": \"Bronze_Yellow_Shiny_Handled\", \"level_table_material_tries\": [\"Polyester_Charmeuse_Black\", \"Platinum_Brushed_Very_Strong_Brushing\", \"Bronze_Yellow_Shiny_Handled\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Mortar_Sand_White\", \"source_episode_index\": 22}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7618974035466742, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.685772180557251, 0.40943580865859985, 0.012000000104308128], \"quaternion\": [0.4168371905318599, 0.41683719053185986, 0.5711801437283212, 0.5711801437283214]}, \"12\": {\"position\": [-0.3717983365058899, -0.012128288857638836, 0.03657222166657448], \"quaternion\": [0.5981858319125531, 8.75042646912635e-05, -0.0020863633789161007, -0.8013546967042381]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Mortar.mdl\", \"name\": \"Mortar_Sand_White\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3121588306441012, -1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3121588306441012, -1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3121588306441012, 1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3121588306441012, 1.0897487687610679, 0.0]}, \"light_radius\": 0.09174527486679522, \"light_length\": 1.3349003407549103, \"light_intensity\": 50000.0, \"light_color_temperature\": 7682.269127157143, \"center_light_postion\": [0.7425291134678, -0.7751728569258294, 1.3119681063479867], \"center_light_orientation\": [0.8691993948681207, 0.0, 0.0, 0.49446173963300016]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Mortar.mdl\", \"name\": \"Mortar_Sand_White\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Scratched.mdl\", \"name\": \"Iron_Scratched_Light_Bumpy\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.29929743297605493, \"metallic_constant\": 0.3565511867940143, \"specular_level\": 0.3382056400763752}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.014708792889951527, \"metallic_constant\": 0.9664684966191658, \"specular_level\": 0.6998813629004348}, {\"reflection_roughness_constant\": 0.8372874272309769, \"metallic_constant\": 0.16944240314064174, \"specular_level\": 0.47957168527616345}]}}}"}
{"episode_index": 53, "tasks": [0], "length": 1, "dataset_from_index": 53, "dataset_to_index": 53, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960665, \"answer\": \"3\", \"appearance_seed\": 12960665, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Zinc_Brushed_Medium_Brushing\", \"table_material_tries\": [\"Concrete_Wall_Even_Greenish_Dirty\", \"Velvet_Blue\", \"Glass_Glazing_Tinted_Light_Bronze\", \"Zinc_Brushed_Medium_Brushing\"], \"pads\": {\"1\": [-0.1989, 0.58492], \"2\": [-0.1989, 0.43492], \"3\": [-0.1989, 0.28492]}, \"pick_xy\": [-0.1989, 0.43492], \"spawn\": [-0.51586, 0.4355, 0.07892], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8392468512260907, 0.0008065989208224178, -0.001926127546698289, -0.5437465973575811], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960665\", \"dr_level\": 1, \"level_seed\": 16960671, \"level_table_material\": \"Pigmented_Smooth_Leather_Dark_Grey\", \"level_table_material_tries\": [\"Fabric_Carpet_Long_Floor_Orange\", \"Volga_Blue_Deep_Pollished\", \"Pigmented_Smooth_Leather_Dark_Grey\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Zinc_Brushed_Medium_Brushing\", \"source_episode_index\": 23}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7134825463729866, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.646604299545288, 0.4111919105052948, 0.012000000104308128], \"quaternion\": [0.2041311452992303, 0.20413114529923018, 0.6770010897471468, 0.677001089747147]}, \"12\": {\"position\": [-0.3796635568141937, 0.08596843481063843, 0.03657222166657448], \"quaternion\": [0.6069233711837341, 0.00011034094133195587, -0.0020852803221361738, -0.7947576114400078]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.387382801972837, -0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.387382801972837, -0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.387382801972837, 0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.387382801972837, 0.6330091032561925, 0.0]}, \"light_radius\": 0.09633793540966493, \"light_length\": 1.9716068605309192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7606.207214802203, \"center_light_postion\": [-1.099683538116981, 1.002300187643295, 1.4091713536387205], \"center_light_orientation\": [0.9124919119715885, 0.0, 0.0, 0.40909474524422174]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Brushed.mdl\", \"name\": \"Zinc_Brushed_Medium_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl\", \"name\": \"Ceramic_Tiles_Subway_Black\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.035588717020898164, \"metallic_constant\": 0.679043248821852, \"specular_level\": 0.9635344521785006}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9190409855190816, \"metallic_constant\": 0.07964516856610582, \"specular_level\": 0.5522183956790391}, {\"reflection_roughness_constant\": 0.750189758804504, \"metallic_constant\": 0.27746980288813217, \"specular_level\": 0.31115863330113047}]}}}"}
{"episode_index": 54, "tasks": [0], "length": 1, "dataset_from_index": 54, "dataset_to_index": 54, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960668, \"answer\": \"3\", \"appearance_seed\": 14960668, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Paint_Eggshell_Light_Denim\", \"table_material_tries\": [\"Water_Murky_Perlinwaves_Rusty_Lake\", \"Rug_Carpet_Hexagonal\", \"Aging_Copper_State_5_of_12\", \"Dark_Gray_Metallic\", \"White_to_Gold\", \"Paint_Eggshell_Light_Denim\"], \"pads\": {\"1\": [-0.20237, 0.5083], \"2\": [-0.20237, 0.3583], \"3\": [-0.20237, 0.2083]}, \"pick_xy\": [-0.20237, 0.3583], \"spawn\": [-0.5007, 0.29184, 0.22342], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.876310112780059, 0.0009435410868688652, -0.0018628739524219505, -0.48174290412029486], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960668\", \"dr_level\": 1, \"level_seed\": 16960674, \"level_table_material\": \"PU_Split_Leather_Blue\", \"level_table_material_tries\": [\"PU_Split_Leather_Blue\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Paint_Eggshell_Light_Denim\", \"source_episode_index\": 24}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.749007341860497, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.628380537033081, 0.41640594601631165, 0.012000000104308128], \"quaternion\": [0.7070759497424987, 0.7070759497424991, -0.006603127724267632, -0.006603127724267529]}, \"12\": {\"position\": [-0.35286763310432434, 0.036085136234760284, 0.03657222166657448], \"quaternion\": [0.6463310278402162, 0.0002156341809983208, -0.002077034194520211, -0.7630542850163832]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Light_Denim\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5672120234453164, -0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5672120234453164, -0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5672120234453164, 0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5672120234453164, 0.9795354243280041, 0.0]}, \"light_radius\": 0.11713894682799397, \"light_length\": 1.651404280411827, \"light_intensity\": 50000.0, \"light_color_temperature\": 7309.25693837924, \"center_light_postion\": [-0.7427673901686154, 0.7882509806870928, 1.464690931066748], \"center_light_orientation\": [0.8635356251579682, 0.0, 0.0, 0.5042878385238305]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Light_Denim\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polypropylene_Opaque.mdl\", \"name\": \"Polypropylene_Light_Blue\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.42237691804665, \"metallic_constant\": 0.5003273222760456, \"specular_level\": 0.2866613861959102}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6018515252690898, \"metallic_constant\": 0.7752900935756687, \"specular_level\": 0.8801366570927109}, {\"reflection_roughness_constant\": 0.1770415404672422, \"metallic_constant\": 0.7999097534655677, \"specular_level\": 0.4446232273799986}]}}}"}
{"episode_index": 55, "tasks": [0], "length": 1, "dataset_from_index": 55, "dataset_to_index": 55, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960701, \"answer\": \"3\", \"appearance_seed\": 45960701, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Pigmented_Smooth_Leather_Green\", \"table_material_tries\": [\"Water_Pool_Clear_Green\", \"Fiberglass_Bumpy_Imperfections\", \"Glass_Optical_BAK\", \"Laminate_Oak_Polished\", \"ABS_Soft_Leather_Cognac\", \"castor_brown\", \"Chromium_Foil_Heavy_Glossy_Wrinkles\", \"Rug_Carpet_Honeycomb\", \"Zinc_Dirty_Rough_Oxidized\", \"black_galaxy\", \"Tungsten_Sheet_Splotchy_Streaks\", \"Fiberglass_Yellowish\", \"Stucco_Shiny_Rough\", \"Brass_Brushed_Gold_Fine\", \"Wood_Tiles_Ash_Cubes\", \"Polyethylene_Light_Blue\", \"Spongy_Concrete_Weathered_Dark_Dirt\", \"Mosaic_Multi_Color_Stone_Red\", \"Silver_Foil_Heavy_Glossy_Wrinkles\", \"Wood_Tiles_Fineline_Cubes\", \"Gold_Foil_Heavy_Matte_Wrinkled\", \"Tweed_Herringbone_Brown\", \"Water_Murky_Perlin_Green_Lake_Min\", \"Silk_Crepe_de_Chine_Sky_Blue\", \"Pigmented_Smooth_Leather_Light_Blue\", \"Iron_Brushed_Medium_Brushing\", \"Velvet_Black\", \"Aluminum_Scratched_Dark_Shiny\", \"castor_brown\", \"Spongy_Concrete_Weathered_Mossy_Rough\", \"Polypropylene_Cloudy_Thick\", \"Brass_Polished_Red_Matte_Polish\", \"Water_Murky_Perlin_Green_Lake_Med\", \"Zinc_Foil_Matte_Wrinkled\", \"Silver_Glossy_Fingerprints\", \"Aluminum_Sheet\", \"Pigmented_Smooth_Leather_Green\"], \"pads\": {\"1\": [-0.19333, 0.57432], \"2\": [-0.19333, 0.42432], \"3\": [-0.19333, 0.27432]}, \"pick_xy\": [-0.19333, 0.42432], \"spawn\": [-0.49455, 0.37126, 0.21594], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8745019272474227, 0.0009365660374704888, -0.0018663904207530339, -0.48501754470472386], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960701\", \"dr_level\": 1, \"level_seed\": 48960707, \"level_table_material\": \"Paint_Eggshell_Earth\", \"level_table_material_tries\": [\"Polyester_Charmeuse_Silver\", \"Paint_Eggshell_Earth\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Pigmented_Smooth_Leather_Green\", \"source_episode_index\": 25}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7601062454882989, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6446478366851807, 0.37816694378852844, 0.012000000104308128], \"quaternion\": [0.6352768418052367, 0.6352768418052368, -0.31052106895662335, -0.31052106895662346]}, \"12\": {\"position\": [-0.3878749907016754, 0.07078129053115845, 0.03657222166657448], \"quaternion\": [0.634213897133295, 0.0001828434141186214, -0.0020801772595469004, -0.7731548176877988]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Pigmented_Smooth_Leather.mdl\", \"name\": \"Pigmented_Smooth_Leather_Green\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9466290158552777, -1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9466290158552777, -1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9466290158552777, 1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9466290158552777, 1.191626169220008, 0.0]}, \"light_radius\": 0.11355897645994953, \"light_length\": 1.3754512293158516, \"light_intensity\": 50000.0, \"light_color_temperature\": 7566.040421818401, \"center_light_postion\": [0.0999860034511344, -0.018996625036167725, 1.4849980482320957], \"center_light_orientation\": [0.9378040861020881, 0.0, 0.0, -0.3471649407561588]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Pigmented_Smooth_Leather.mdl\", \"name\": \"Pigmented_Smooth_Leather_Green\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Clear.mdl\", \"name\": \"Glass_Clear_Blueish\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.26628843227988586, \"metallic_constant\": 0.5607358972906143, \"specular_level\": 0.7730177777505708}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9206547215224061, \"metallic_constant\": 0.3899423021105026, \"specular_level\": 0.5379614606565648}, {\"reflection_roughness_constant\": 0.3985474687570214, \"metallic_constant\": 0.8647322069819557, \"specular_level\": 0.5178656379516334}]}}}"}
{"episode_index": 56, "tasks": [0], "length": 1, "dataset_from_index": 56, "dataset_to_index": 56, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960711, \"answer\": \"3\", \"appearance_seed\": 20960711, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Yellow_Shiny_Handled\", \"table_material_tries\": [\"Silver_Brushed_Medium_Light_Brushing\", \"Polyester_Crepe_de_Chine\", \"Brass_Polished_Red_Shiny_Polish\", \"Wood_Tiles_Oak_Mountain_Chevron\", \"Jelly\", \"Concrete_Rough_Dirty\", \"Silver_Hammered\", \"Zircon\", \"Steel_Grey_Alabaster\", \"Carbon_Fiber_Dusty_Coating\", \"Brass_Brushed_Gold_Fine\", \"Bronze_Yellow_Shiny_Handled\"], \"pads\": {\"1\": [-0.16678, 0.58128], \"2\": [-0.16678, 0.43128], \"3\": [-0.16678, 0.28128]}, \"pick_xy\": [-0.16678, 0.43128], \"spawn\": [-0.47158, 0.42535, 0.09593], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8438433435861401, 0.0008229596228245716, -0.0019191942591677107, -0.5365855485532748], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960711\", \"dr_level\": 1, \"level_seed\": 23960717, \"level_table_material\": \"Wood_Bark\", \"level_table_material_tries\": [\"Glass_Optical_SSK\", \"Wood_Bark\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Bronze_Yellow_Shiny_Handled\", \"source_episode_index\": 26}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.6981543422932598, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.658304214477539, 0.3596790134906769, 0.012000000104308128], \"quaternion\": [0.7070399892176903, 0.7070399892176906, 0.009718726616597007, 0.009718726616596968]}, \"12\": {\"position\": [-0.38535770773887634, 0.04875968024134636, 0.03657222166657448], \"quaternion\": [0.6096784526280996, 0.00011757863669135562, -0.002084884747274085, -0.7926460898988028]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3397727324370754, -1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3397727324370754, -1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3397727324370754, 1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3397727324370754, 1.2322160891618144, 0.0]}, \"light_radius\": 0.08310834890592471, \"light_length\": 1.0556111449778116, \"light_intensity\": 50000.0, \"light_color_temperature\": 6318.9850630240735, \"center_light_postion\": [0.42439735539228307, 0.9033358154940583, 1.3903760802644451], \"center_light_orientation\": [0.9605143933907896, 0.0, 0.0, 0.2782303004511253]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze.mdl\", \"name\": \"Bronze_Yellow_Shiny_Handled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Mosaic_Shifted.mdl\", \"name\": \"Ceramic_Tiles_Mosaic_Shifted_Black\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8568545577487326, \"metallic_constant\": 0.7707595259445517, \"specular_level\": 0.407714082320761}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7792477023092214, \"metallic_constant\": 0.3095212679199778, \"specular_level\": 0.9012850479543947}, {\"reflection_roughness_constant\": 0.9365305083325457, \"metallic_constant\": 0.34955560938040686, \"specular_level\": 0.05828737536959838}]}}}"}
{"episode_index": 57, "tasks": [0], "length": 1, "dataset_from_index": 57, "dataset_to_index": 57, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960724, \"answer\": \"3\", \"appearance_seed\": 23960724, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"table_material_tries\": [\"Titanium_Scratched_Dark_Matte\", \"Glass_Clear_Greenish\", \"Silver_Hammered\", \"Polypropylene_Opaque\", \"Glass_Glazing_Spandrel_White\", \"Voodoo\", \"Copper_Brushed_Medium_Brushing\", \"Cardboard_Worn\", \"concrete_precast_walnut\", \"Wood_Tiles_Pine_Brickbond\", \"Topaz\", \"Tungsten_Glossy_Fingerprints\", \"Zinc_Hammered_Shiny\", \"Copper_Antique_Brushed_Shiny_Smudged\", \"Tungsten_Scratched_Dark_Shiny\"], \"pads\": {\"1\": [-0.19648, 0.5122], \"2\": [-0.19648, 0.3622], \"3\": [-0.19648, 0.2122]}, \"pick_xy\": [-0.19648, 0.3622], \"spawn\": [-0.50264, 0.36136, 0.08854], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8418535692781189, 0.0008158578444473334, -0.001922224004343825, -0.5397019615718908], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960724\", \"dr_level\": 1, \"level_seed\": 34960730, \"level_table_material\": \"Chromium_Glossy_Fingerprints\", \"level_table_material_tries\": [\"Chalk_Paint_Moonstone\", \"Jelly_Red_Strawberry\", \"Fabric_Cotton_Fine_Woven_Orange\", \"Wood_Tiles_Ash_Woodstrip\", \"Tire_New\", \"Polycarbonate_Smudged\", \"White_Chameleon\", \"Steel_Grey_Dust\", \"plastic_yellow_orange\", \"Chromium_Glossy_Fingerprints\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"source_episode_index\": 27}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7245766246520685, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.695953607559204, 0.36867526173591614, 0.012000000104308128], \"quaternion\": [0.22082604113428791, 0.22082604113428778, 0.6717409169888029, 0.671740916988803]}, \"12\": {\"position\": [-0.353057324886322, 0.0397939532995224, 0.03657222166657448], \"quaternion\": [0.6375075841124421, 0.00019171896995580638, -0.0020793780276280316, -0.7704412499535396]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8785021621846876, -1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8785021621846876, -1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.8785021621846876, 1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.8785021621846876, 1.0870737806235935, 0.0]}, \"light_radius\": 0.09547563172703939, \"light_length\": 1.5645594506238933, \"light_intensity\": 50000.0, \"light_color_temperature\": 7667.750663189063, \"center_light_postion\": [-0.6038632144274334, 0.6136793661395588, 1.3212738769445143], \"center_light_orientation\": [0.9879024829970855, 0.0, 0.0, 0.15507638146472616]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polyethylene_Clear.mdl\", \"name\": \"Polyethylene_Clear\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9371947280464357, \"metallic_constant\": 0.20561070167664208, \"specular_level\": 0.7901680887282576}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5682330368554693, \"metallic_constant\": 0.9504024413940314, \"specular_level\": 0.15612305968024498}, {\"reflection_roughness_constant\": 0.33885846313769286, \"metallic_constant\": 0.6064552568117796, \"specular_level\": 0.8286546827893272}]}}}"}
{"episode_index": 58, "tasks": [0], "length": 1, "dataset_from_index": 58, "dataset_to_index": 58, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960727, \"answer\": \"3\", \"appearance_seed\": 25960727, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Fineline_Chevron\", \"table_material_tries\": [\"Cardboard_Low_Quality_Dirt\", \"Tungsten_Brushed_Medium_Light_Brushing\", \"Jelly_Dark_Red_Raspberry\", \"Bronze_Sheet_Matte_Imperfections\", \"Copper_Antique_Brushed_Medium_Patina\", \"Wood_Tiles_Walnut_Versailles\", \"Fabric_Cotton_Fine_Woven_Light_Blue\", \"Woven_Metal_01_Faint_Copper\", \"Fabric_Cotton_Roughly_Woven_Green\", \"Jelly_Clear_Orange\", \"Glass_Glazing_Tinted_Dark_Bronze\", \"Brass_Brushed_Red_Medium\", \"Mortar_Clay\", \"Aging_Copper_State_3_of_12\", \"Gold\", \"Steel_Brushed_Clean_Polished\", \"Wood_Tiles_Fineline_Chevron\"], \"pads\": {\"1\": [-0.20318, 0.51152], \"2\": [-0.20318, 0.36152], \"3\": [-0.20318, 0.21152]}, \"pick_xy\": [-0.20318, 0.36152], \"spawn\": [-0.52066, 0.34675, 0.06523], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8355078559228447, 0.0007934048614372575, -0.0019315998216684494, -0.5494745327329249], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960727\", \"dr_level\": 1, \"level_seed\": 45960733, \"level_table_material\": \"Wood_Tiles_Oak_Mountain_Chantilly\", \"level_table_material_tries\": [\"Facade_Brick_Glaced\", \"Suede_Leather_Beige\", \"Glass_Glazing_Tinted_Medium_Gray\", \"Glazing_Float\", \"Brass_Foil_Red_Heavy_Wrinkles\", \"Wood_Tiles_Ash_Chevron\", \"Nickel_Sheet_Splotchy_Streaks\", \"ABS_Soft_Leather_Bone\", \"emerald_pearl\", \"Brass_Sheet_Yellow_Matte_Imperfections\", \"Brass_Gold_Worn\", \"Steel_Brushed_Matte_Brushing\", \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\", \"Tire_Slick\", \"Carbon_Fiber_Shiny_Coating\", \"Rosa_Beta_Stain\", \"Carpaint_Metallic\", \"Zinc\", \"Wood_Tiles_Oak_Mountain_Chantilly\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Fineline_Chevron\", \"source_episode_index\": 28}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7424508322764157, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.609679698944092, 0.368185430765152, 0.012000000104308128], \"quaternion\": [0.45676878854326775, 0.4567687885432678, -0.5397798382791965, -0.5397798382791965]}, \"12\": {\"position\": [-0.3747274875640869, 0.08750733733177185, 0.03657222166657448], \"quaternion\": [0.5456799578734779, -4.6184526107325135e-05, -0.0020876867903903973, -0.8379910637984478]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chevron\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0098705127024865, -0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0098705127024865, -0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0098705127024865, 0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0098705127024865, 0.7585165338575902, 0.0]}, \"light_radius\": 0.08815845709509404, \"light_length\": 1.3273881261044593, \"light_intensity\": 50000.0, \"light_color_temperature\": 7252.3649049584255, \"center_light_postion\": [0.8692029671803048, 0.9116837189552358, 1.4238775439342701], \"center_light_orientation\": [0.9900667353404727, 0.0, 0.0, -0.14059822037372455]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chevron\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Floor_Damage.mdl\", \"name\": \"Shiny_Damaged_Concrete\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5897392262396567, \"metallic_constant\": 0.29293078874345824, \"specular_level\": 0.6419258115808153}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.38416501153333493, \"metallic_constant\": 0.018329010920822175, \"specular_level\": 0.15646982810317778}, {\"reflection_roughness_constant\": 0.6921979144965855, \"metallic_constant\": 0.8200969613321051, \"specular_level\": 0.9270118060999648}]}}}"}
{"episode_index": 59, "tasks": [0], "length": 1, "dataset_from_index": 59, "dataset_to_index": 59, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960800, \"answer\": \"3\", \"appearance_seed\": 15960800, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Petrol_Purple\", \"table_material_tries\": [\"Water_Murky_Perlinwaves_Rusty_Lake\", \"Grog_Fired_Clay\", \"Copper_Foil_Shiny_Wrinkled\", \"Stucco_Shiny_Rough\", \"Spongy_Concrete_Weathered_Mossy_Light_Dirt\", \"Brass_Gold_Rough_Worn\", \"Petrol_Purple\"], \"pads\": {\"1\": [-0.17075, 0.50749], \"2\": [-0.17075, 0.35749], \"3\": [-0.17075, 0.20749]}, \"pick_xy\": [-0.17075, 0.35749], \"spawn\": [-0.48929, 0.28942, 0.22304], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8762196321011549, 0.0009431912460523136, -0.001863051104664642, -0.48190745558807435], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L1\", \"source_episode\": \"hidemug2t-a3-s9960800\", \"dr_level\": 1, \"level_seed\": 28960806, \"level_table_material\": \"Suede_Leather_Chocolate_Brown\", \"level_table_material_tries\": [\"Chromium_Brushed\", \"PET_Smudged\", \"PCB_Copper_Smooth\", \"Orange_Murdered_Candy_Coat\", \"Pearl\", \"Morganite\", \"Wood_Tiles_Oak_Mountain_Stackbond\", \"Golden_Yellow_Metallic\", \"Tungsten_Foil_Matte_Wrinkled\", \"Steel_Brushed_Clean_Polished\", \"Polyethylene_Clear\", \"Suede_Leather_Chocolate_Brown\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": true, \"target\": true}, \"reference_table_material\": \"Petrol_Purple\", \"source_episode_index\": 29}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.73610741274133, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.611637830734253, 0.39760592579841614, 0.012000000104308128], \"quaternion\": [0.28132650946312604, 0.2813265094631261, 0.6487336857858499, 0.6487336857858498]}, \"12\": {\"position\": [-0.38312897086143494, 0.050053324550390244, 0.03657222166657448], \"quaternion\": [0.6125483841553231, 0.00012513714108343562, -0.0020844447320916837, -0.7904303362723104]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Petrol_Purple\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0157032701654245, -0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0157032701654245, -0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0157032701654245, 0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0157032701654245, 0.5313942337077779, 0.0]}, \"light_radius\": 0.08604605162760136, \"light_length\": 0.782793835923969, \"light_intensity\": 50000.0, \"light_color_temperature\": 6174.9495374026665, \"center_light_postion\": [0.14971417927122, -1.0300183938385075, 1.3078823656201908], \"center_light_orientation\": [0.803218751028955, 0.0, 0.0, 0.5956841763850081]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"Petrol_Purple\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Polycarbonate_Opaque.mdl\", \"name\": \"Polycarbonate_Black\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9097751401292571, \"metallic_constant\": 0.7690972601739212, \"specular_level\": 0.35924465480291823}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.5217238487172691, \"metallic_constant\": 0.17393663131089654, \"specular_level\": 0.5341916065529435}, {\"reflection_roughness_constant\": 0.3015069216827252, \"metallic_constant\": 0.6422568808699745, \"specular_level\": 0.5381629842246728}]}}}"}
{"episode_index": 60, "tasks": [0], "length": 1, "dataset_from_index": 60, "dataset_to_index": 60, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961110, \"answer\": \"1\", \"appearance_seed\": 28961110, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"PU_Split_Leather_Blue\", \"table_material_tries\": [\"Concrete_Wall_Aged_Scratched\", \"Grog_Fired_Clay_Glaced\", \"Stone_Mediterranean_Warm_Shiny\", \"Sandstone_Brick_Vintage\", \"Chalk_Paint_Dark_Forest\", \"Concrete_Polished\", \"caledonia\", \"Fabric_Cotton_Roughly_Woven_Orange\", \"Iron_Sheet\", \"Wood_Tiles_Ash_Chevron\", \"Aluminum_Sheet_Soft_Splotches\", \"Silk_Crepe_de_Chine_Forest_Green\", \"Glass_Clear_Light_Mixed_Dirt\", \"Brass_Scratched\", \"Aluminum\", \"Morganite\", \"Aging_Copper_State_6_of_12\", \"medium_pitted_steel\", \"Platinum_Scratched\", \"PU_Split_Leather_Blue\"], \"pads\": {\"1\": [-0.169, 0.59934], \"2\": [-0.169, 0.44934], \"3\": [-0.169, 0.29934]}, \"pick_xy\": [-0.169, 0.44934], \"spawn\": [-0.48355, 0.39384, 0.22478], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8766371861862773, 0.0009448064264149075, -0.0018622325208810396, -0.4811474651562259], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961110\", \"dr_level\": 2, \"level_seed\": 32961119, \"level_table_material\": \"Brass_Polished_Gold_Shiny_Polish\", \"level_table_material_tries\": [\"Polyethylene_Dark_Gray\", \"Brass_Polished_Gold_Shiny_Polish\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"PU_Split_Leather_Blue\", \"source_episode_index\": 0}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7077169963636006, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.672574520111084, 0.35944387316703796, 0.012000000104308128], \"quaternion\": [0.623109436045365, 0.6231094360453646, 0.33426730428091145, 0.3342673042809114]}, \"12\": {\"position\": [-0.37690237164497375, 0.035871487110853195, 0.03657222166657448], \"quaternion\": [0.6158163936076889, 0.00013376799026836272, -0.0020839086520292316, -0.7878869264017997]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/PU_Split_Leather.mdl\", \"name\": \"PU_Split_Leather_Blue\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4778814744941062, -1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4778814744941062, -1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4778814744941062, 1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4778814744941062, 1.164456809912442, 0.0]}, \"light_radius\": 0.11986979920306151, \"light_length\": 1.817866063479062, \"light_intensity\": 50000.0, \"light_color_temperature\": 6848.217096611138, \"center_light_postion\": [-0.9345577082598995, -0.048903698070684065, 1.3512603608265747], \"center_light_orientation\": [0.8768946893522205, 0.0, 0.0, 0.48068253950593287]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/PU_Split_Leather.mdl\", \"name\": \"PU_Split_Leather_Blue\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Steel_Brass\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.08925579444184084, \"metallic_constant\": 0.06588269725627116, \"specular_level\": 0.7599940099590275}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2307975156334685, \"metallic_constant\": 0.02645579381882268, \"specular_level\": 0.5265026115770542}, {\"reflection_roughness_constant\": 0.28334677792177776, \"metallic_constant\": 0.10292998466167669, \"specular_level\": 0.4721314407161591}]}}}"}
{"episode_index": 61, "tasks": [0], "length": 1, "dataset_from_index": 61, "dataset_to_index": 61, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961210, \"answer\": \"1\", \"appearance_seed\": 35961210, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Suede_Leather_Chocolate_Brown\", \"table_material_tries\": [\"Bronze_Sheet_Matte_Imperfections\", \"Velvet_Black\", \"Wood_Tiles_Beech_Herringbone\", \"Aluminum_Scratched_Dark_Shiny\", \"Bionic_Flare\", \"Woven_Metal_01_Faint_Copper\", \"Glass_Glazing_Spandrel_Bronze\", \"Pigmented_Smooth_Leather_Light_Blue\", \"Iron_Scratched_Dirty_Rough\", \"Ceramic_Tiles_Square_Antique_White\", \"concrete_precast_warm_gray\", \"Fabric_Cotton_Pique_Weave\", \"Chromium_Foil_Heavy_Matte_Wrinkled\", \"Gold_Sheet_Glossy_Streaks\", \"PET_Smudged\", \"Chalk_Paint_Pebbles_Moonlight\", \"Stone_Mediterranean_Warm_Matte\", \"Glass_Glazing_Spandrel_Dark_Blue\", \"plastic_yellow_orange\", \"PCB_Prepreg_Shiny\", \"Silver_Polished\", \"Aluminum_Foil_Heavy_Glossy_Wrinkles\", \"Brass_Gold_New_Stained\", \"Paint_Eggshell_Lime\", \"Polyester_Herringbone_Beige\", \"Tungsten_Brushed_Very_Strong_Brushing\", \"Suede_Leather_Chocolate_Brown\"], \"pads\": {\"1\": [-0.15936, 0.51605], \"2\": [-0.15936, 0.36605], \"3\": [-0.15936, 0.21605]}, \"pick_xy\": [-0.15936, 0.36605], \"spawn\": [-0.47363, 0.36354, 0.07042], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8369299692040475, 0.0007984113072047922, -0.0019295358327197228, -0.5473060077132056], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961210\", \"dr_level\": 2, \"level_seed\": 54961219, \"level_table_material\": \"Nickel_Scratched_Dark_Shiny\", \"level_table_material_tries\": [\"Tire_Offroad\", \"Fiberglass_Yellowish\", \"Iron_Brushed_Very_Strong_Brushing\", \"Stone_Mediterranean_Matte\", \"Chromium_Foil_Shiny_Wrinkled\", \"Glass_Clear_Heavy_Dirt_Dust\", \"Nickel_Foil_Heavy_Glossy_Wrinkles\", \"Water_Pool_Clear_Green\", \"Carbon_Fiber_Aluminized_Coated\", \"Stone_Mediterranean_Warm_Matte\", \"OSB_Wood\", \"Wood_Tiles_Ash_Herringbone\", \"Bronze_Red_Shiny_Handled\", \"Glass_Clear_Heavy_Smudges\", \"Diamond\", \"Polycarbonate_Cloudy_Thick\", \"Nickel_Scratched_Dark_Shiny\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Suede_Leather_Chocolate_Brown\", \"source_episode_index\": 1}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7129666483822529, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6100807189941406, 0.43883660435676575, 0.012000000104308128], \"quaternion\": [0.4537336334068197, 0.45373363340681966, 0.5423336518375433, 0.5423336518375433]}, \"12\": {\"position\": [-0.3630805015563965, 0.032499633729457855, 0.03657222166657448], \"quaternion\": [0.6413737890597787, 0.00020217297240189317, -0.002078387652593494, -0.767225717854894]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", \"name\": \"Suede_Leather_Chocolate_Brown\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5923252811050677, -0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5923252811050677, -0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5923252811050677, 0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5923252811050677, 0.9432973091970213, 0.0]}, \"light_radius\": 0.09338061836705809, \"light_length\": 1.9209627497550124, \"light_intensity\": 50000.0, \"light_color_temperature\": 6620.4803050976125, \"center_light_postion\": [-0.8535293687026237, 0.07507588344586358, 1.3623439939546627], \"center_light_orientation\": [0.9450198737418954, 0.0, 0.0, 0.3270129022421777]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Suede_Leather.mdl\", \"name\": \"Suede_Leather_Chocolate_Brown\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Foil.mdl\", \"name\": \"Nickel_Foil_Heavy_Glossy_Wrinkles\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9172969344449037, \"metallic_constant\": 0.31170219179560255, \"specular_level\": 0.4044896425759352}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.1977251449429145, \"metallic_constant\": 0.8711522160952427, \"specular_level\": 0.7560957729183211}, {\"reflection_roughness_constant\": 0.7728946650382748, \"metallic_constant\": 0.8122661694445027, \"specular_level\": 0.3169414763040155}]}}}"}
{"episode_index": 62, "tasks": [0], "length": 1, "dataset_from_index": 62, "dataset_to_index": 62, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961246, \"answer\": \"1\", \"appearance_seed\": 14961246, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Platinum_Foil_Matte_Wrinkled\", \"table_material_tries\": [\"Glass_Clear_Heavy_Smudges\", \"Pink_Glamour_Metallic\", \"Tungsten_Foil_Matte_Wrinkled\", \"Brass_Sheet_Red_Soft_Splotches\", \"PCB_Solder_Mask_Black_Fast\", \"Platinum_Foil_Matte_Wrinkled\"], \"pads\": {\"1\": [-0.20608, 0.45363], \"2\": [-0.20608, 0.30363], \"3\": [-0.20608, 0.15363]}, \"pick_xy\": [-0.20608, 0.30363], \"spawn\": [-0.51104, 0.27079, 0.1911], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8684111013886507, 0.0009133152880303015, -0.0018778776131239188, -0.49584049695018456], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961246\", \"dr_level\": 2, \"level_seed\": 19961255, \"level_table_material\": \"Polyester_Herringbone_Silver\", \"level_table_material_tries\": [\"Brass_Sheet_Yellow_Matte_Imperfections\", \"PU_Split_Leather_Beige\", \"Polyester_Herringbone_Silver\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Platinum_Foil_Matte_Wrinkled\", \"source_episode_index\": 2}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7163278200046813, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.664245367050171, 0.42449286580085754, 0.012000000104308128], \"quaternion\": [0.6098986929284894, 0.6098986929284894, 0.3578038350327176, 0.3578038350327176]}, \"12\": {\"position\": [-0.3768227696418762, -0.005715201608836651, 0.03657222166657448], \"quaternion\": [0.6008568661700446, 9.44666094004687e-05, -0.002086059731870371, -0.7993539052304481]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0395292492887367, -0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0395292492887367, -0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0395292492887367, 0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0395292492887367, 0.671875697774524, 0.0]}, \"light_radius\": 0.11917012644214901, \"light_length\": 1.4713014049107822, \"light_intensity\": 50000.0, \"light_color_temperature\": 7717.865059278058, \"center_light_postion\": [0.7239543355636286, 0.06707955484919892, 1.4954116044064354], \"center_light_orientation\": [0.9685814569211942, 0.0, 0.0, -0.24869652452018035]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Platinum_Foil.mdl\", \"name\": \"Platinum_Foil_Matte_Wrinkled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond_Offset.mdl\", \"name\": \"Ceramic_Tiles_Offset_Diamond_Antique_White_Dirty\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.8794532650421379, \"metallic_constant\": 0.668335897940337, \"specular_level\": 0.9720814905222945}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3488671530656676, \"metallic_constant\": 0.7391807935920557, \"specular_level\": 0.6309590893467575}, {\"reflection_roughness_constant\": 0.36909386611905226, \"metallic_constant\": 0.7433981692889275, \"specular_level\": 0.528679354486775}]}}}"}
{"episode_index": 63, "tasks": [0], "length": 1, "dataset_from_index": 63, "dataset_to_index": 63, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961249, \"answer\": \"1\", \"appearance_seed\": 15961249, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Foil_Matte_Wrinkled\", \"table_material_tries\": [\"Carbon_Fiber_Worn_Coating\", \"Polyethylene_Light_Blue\", \"Ceramic_Tiles_Square_Dark_Gray\", \"Styrofoam_no_SSS\", \"Stainless_Steel_Shiny_Worn\", \"Silver_Foil_Shiny_Wrinkled\", \"Bronze_Foil_Matte_Wrinkled\"], \"pads\": {\"1\": [-0.20278, 0.55919], \"2\": [-0.20278, 0.40919], \"3\": [-0.20278, 0.25919]}, \"pick_xy\": [-0.20278, 0.40919], \"spawn\": [-0.49973, 0.35712, 0.20411], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8716173506870384, 0.0009255084286462578, -0.0018718983128702782, -0.4901824491066195], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961249\", \"dr_level\": 2, \"level_seed\": 21961258, \"level_table_material\": \"PCB_Copper\", \"level_table_material_tries\": [\"PCB_Copper_Smooth\", \"Terrazzo_Shiny_Clean\", \"Carbon_Fiber_Aluminized\", \"PCB_Copper\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Bronze_Foil_Matte_Wrinkled\", \"source_episode_index\": 3}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7546197201582651, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6517865657806396, 0.3802899718284607, 0.012000000104308128], \"quaternion\": [0.017617321296097013, 0.017617321296097013, -0.706887282379836, -0.7068872823798362]}, \"12\": {\"position\": [-0.3719633221626282, 0.07358238101005554, 0.03657222166657448], \"quaternion\": [0.6163156587409515, 0.00013508881373378574, -0.0020838234468459893, -0.7874964433072451]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Foil.mdl\", \"name\": \"Bronze_Foil_Matte_Wrinkled\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1042222720810557, -1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1042222720810557, -1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1042222720810557, 1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1042222720810557, 1.1779636959289257, 0.0]}, \"light_radius\": 0.0802777513180944, \"light_length\": 1.3869999127797032, \"light_intensity\": 50000.0, \"light_color_temperature\": 6495.451458988974, \"center_light_postion\": [0.8384985069720308, 0.07617816470884953, 1.3540261012839983], \"center_light_orientation\": [0.9674368345304015, 0.0, 0.0, 0.2531125662502685]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Foil.mdl\", \"name\": \"Bronze_Foil_Matte_Wrinkled\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Brass_Brushed.mdl\", \"name\": \"Brass_Brushed_Red_Strong\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9439673888523074, \"metallic_constant\": 0.30471424461232555, \"specular_level\": 0.11894904761042258}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3173001434596098, \"metallic_constant\": 0.26073554562696777, \"specular_level\": 0.7420819514126723}, {\"reflection_roughness_constant\": 0.3249385968354027, \"metallic_constant\": 0.3126391377087099, \"specular_level\": 0.8201624339270221}]}}}"}
{"episode_index": 64, "tasks": [0], "length": 1, "dataset_from_index": 64, "dataset_to_index": 64, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961441, \"answer\": \"1\", \"appearance_seed\": 18961441, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Mulch_Wet\", \"table_material_tries\": [\"Polymethylmethacrylate_Clear\", \"Ceramic_Tiles_Paseo_Gray\", \"Fabric_Cotton_Pique_Weave_Inkwell\", \"Sandstone_Brick_Vintage\", \"Wood_Tiles_Beech_Brickbond\", \"Glass_Glazing_Tinted_Bronze\", \"ABS_Soft_Leather_Cognac\", \"Chalk_Paint_Pebbles_Felted_Wool\", \"Iron_Glossy_Fingerprints\", \"Mulch_Wet\"], \"pads\": {\"1\": [-0.20194, 0.49265], \"2\": [-0.20194, 0.34265], \"3\": [-0.20194, 0.19265]}, \"pick_xy\": [-0.20194, 0.34265], \"spawn\": [-0.50696, 0.28316, 0.21934], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8753257412943822, 0.0009397396608062463, -0.0018647944967555058, -0.48352919876497163], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961441\", \"dr_level\": 2, \"level_seed\": 23961450, \"level_table_material\": \"Pull_Up_Leather_Red_Wine\", \"level_table_material_tries\": [\"Wood_Tiles_Walnut_Versailles\", \"Elegant_Blue_Metallic\", \"Pull_Up_Leather_Red_Wine\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Mulch_Wet\", \"source_episode_index\": 4}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.766968424890063, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6496121883392334, 0.38667869567871094, 0.012000000104308128], \"quaternion\": [0.01212170262013836, 0.012121702620138416, -0.707002874340401, -0.7070028743404012]}, \"12\": {\"position\": [-0.355966180562973, 0.04705876484513283, 0.03657222166657448], \"quaternion\": [0.6224183110921117, 0.00015128245605268155, -0.0020827104368378313, -0.7826819823198297]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Ground/Mulch.mdl\", \"name\": \"Mulch_Wet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4531492565967685, -1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4531492565967685, -1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.4531492565967685, 1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4531492565967685, 1.0110009646420068, 0.0]}, \"light_radius\": 0.08082592203853468, \"light_length\": 1.7670541114752518, \"light_intensity\": 50000.0, \"light_color_temperature\": 7461.703162312138, \"center_light_postion\": [1.0149861100019657, 0.7217850250559601, 1.490865274811364], \"center_light_orientation\": [0.7819486409025318, 0.0, 0.0, 0.6233428615061565]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Ground/Mulch.mdl\", \"name\": \"Mulch_Wet\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Gold_Brushed.mdl\", \"name\": \"Gold_Brushed_Medium_Light_Brushing\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9475440946968047, \"metallic_constant\": 0.035123034655434204, \"specular_level\": 0.7132123113625776}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.706998354419755, \"metallic_constant\": 0.26722111337204424, \"specular_level\": 0.15560372156014124}, {\"reflection_roughness_constant\": 0.17618225754480277, \"metallic_constant\": 0.40998119286772905, \"specular_level\": 0.6538386434002861}]}}}"}
{"episode_index": 65, "tasks": [0], "length": 1, "dataset_from_index": 65, "dataset_to_index": 65, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961456, \"answer\": \"1\", \"appearance_seed\": 17961456, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Zinc_Rough_Crystals\", \"table_material_tries\": [\"Plastic_Thick_Translucent\", \"Polyethylene_Cloudy_Rough\", \"Cardboard_Low_Quality_Dirt\", \"Copper_Scratched_Dark_Matte\", \"Brass_Scratched_Gold_Medium_Glossy_Deep_Scratches\", \"Ground_Hard_Court\", \"Titanium_Foil_Heavy_Glossy_Wrinkles\", \"Chalk_Paint_Pebbles_Contemplation\", \"Zinc_Rough_Crystals\"], \"pads\": {\"1\": [-0.20832, 0.4691], \"2\": [-0.20832, 0.3191], \"3\": [-0.20832, 0.1691]}, \"pick_xy\": [-0.20832, 0.3191], \"spawn\": [-0.52101, 0.27026, 0.0934], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8431634685103655, 0.0008205296864946507, -0.0019202344072541896, -0.5376532384357274], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961456\", \"dr_level\": 2, \"level_seed\": 23961465, \"level_table_material\": \"Tire_Dusty\", \"level_table_material_tries\": [\"Brass_Red_Shiny_Handled\", \"Paint_Eggshell_Lime\", \"Aluminum_Foil_Heavy_Matte_Wrinkled\", \"Tire_Dusty\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Zinc_Rough_Crystals\", \"source_episode_index\": 5}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7653043341055527, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.635638475418091, 0.41142261028289795, 0.012000000104308128], \"quaternion\": [0.354071293625127, 0.35407129362512707, -0.6120731320934034, -0.6120731320934035]}, \"12\": {\"position\": [-0.38375821709632874, 0.007645014673471451, 0.03657222166657448], \"quaternion\": [0.5554050618210816, -2.1860996223753472e-05, -0.0020880831501799424, -0.8315773305798895]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Galvanizing.mdl\", \"name\": \"Zinc_Rough_Crystals\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.47681209032033, -1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.47681209032033, -1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.47681209032033, 1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.47681209032033, 1.0258009064575453, 0.0]}, \"light_radius\": 0.09674627927592823, \"light_length\": 1.6629930500961265, \"light_intensity\": 50000.0, \"light_color_temperature\": 7337.872142388458, \"center_light_postion\": [0.2828606467879844, -0.1049400490075183, 1.3084728421134997], \"center_light_orientation\": [0.9519793332572322, 0.0, 0.0, -0.30616229201375483]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Galvanizing.mdl\", \"name\": \"Zinc_Rough_Crystals\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Paseo.mdl\", \"name\": \"Ceramic_Tiles_Paseo_Mint_Varied\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.2746466668269888, \"metallic_constant\": 0.14735238000262263, \"specular_level\": 0.713145984961554}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3682659664412494, \"metallic_constant\": 0.03875046362593937, \"specular_level\": 0.2545044866670093}, {\"reflection_roughness_constant\": 0.27836651456934924, \"metallic_constant\": 0.5724987131502938, \"specular_level\": 0.7750046507678499}]}}}"}
{"episode_index": 66, "tasks": [0], "length": 1, "dataset_from_index": 66, "dataset_to_index": 66, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961501, \"answer\": \"1\", \"appearance_seed\": 13961501, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Nickel_Scratched_Dark_Shiny\", \"table_material_tries\": [\"Electric_Blue_Metallic\", \"Styrofoam_no_SSS\", \"Zinc_Brushed\", \"Velvet_Dark_Grey\", \"Nickel_Scratched_Dark_Shiny\"], \"pads\": {\"1\": [-0.16435, 0.60454], \"2\": [-0.16435, 0.45454], \"3\": [-0.16435, 0.30454]}, \"pick_xy\": [-0.16435, 0.45454], \"spawn\": [-0.47602, 0.39481, 0.26812], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8868570429204113, 0.0009849361344723014, -0.0018413228821237788, -0.4620392027234475], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961501\", \"dr_level\": 2, \"level_seed\": 23961510, \"level_table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"level_table_material_tries\": [\"Facade_Brick_Glaced\", \"Polyester_Crepe_de_Chine_Rose\", \"Elegant_Blue_Metallic\", \"Woven_Metal_02_Steel_Pure\", \"Tungsten_Polished\", \"Cardboard_Worn\", \"Brass_Scratched\", \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Nickel_Scratched_Dark_Shiny\", \"source_episode_index\": 6}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7465443944148196, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.624112367630005, 0.4011552631855011, 0.012000000104308128], \"quaternion\": [0.7069459747371495, 0.7069459747371494, 0.015079416531873613, 0.015079416531873486]}, \"12\": {\"position\": [-0.3776741623878479, 0.006602893117815256, 0.03657222166657448], \"quaternion\": [0.5585541541387355, -1.3943471581008488e-05, -0.0020881510301751227, -0.8294654280470138]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Dark_Shiny\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.406669828311748, -1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.406669828311748, -1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.406669828311748, 1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.406669828311748, 1.0563555205347661, 0.0]}, \"light_radius\": 0.10292482157465553, \"light_length\": 0.6892027401388351, \"light_intensity\": 50000.0, \"light_color_temperature\": 6377.825901601089, \"center_light_postion\": [-1.0419602301381437, -0.8999410865189232, 1.3359231651679668], \"center_light_orientation\": [0.9984266118495031, 0.0, 0.0, -0.056074064867118086]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Dark_Shiny\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Poplar.mdl\", \"name\": \"Wood_Tiles_Poplar_Chevron\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4320209920004473, \"metallic_constant\": 0.9958478050791718, \"specular_level\": 0.2397566268026915}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.2832651188542711, \"metallic_constant\": 0.0376155942422991, \"specular_level\": 0.6936806411834134}, {\"reflection_roughness_constant\": 0.6510527533232463, \"metallic_constant\": 0.8012278243640196, \"specular_level\": 0.9541617018280633}]}}}"}
{"episode_index": 67, "tasks": [0], "length": 1, "dataset_from_index": 67, "dataset_to_index": 67, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961506, \"answer\": \"1\", \"appearance_seed\": 11961506, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Bark\", \"table_material_tries\": [\"Glass_Glazing_Spandrel_Dark_Gray\", \"Jelly_White_Pineapple\", \"Wood_Bark\"], \"pads\": {\"1\": [-0.1654, 0.5148], \"2\": [-0.1654, 0.3648], \"3\": [-0.1654, 0.2148]}, \"pick_xy\": [-0.1654, 0.3648], \"spawn\": [-0.48197, 0.30819, 0.15736], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.859921805819283, 0.0008815022414277793, -0.0018930195306915512, -0.5104215192440054], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961506\", \"dr_level\": 2, \"level_seed\": 22961515, \"level_table_material\": \"Zinc_Sheet_Glossy_Imperfections\", \"level_table_material_tries\": [\"Silk_Crepe_de_Chine_Yellow\", \"Flaming_Orange_Metallic\", \"Polycarbonate_Cloudy_Thick\", \"Brass_Foil_Yellow_Matte_Wrinkled\", \"Fiberglass_Bumpy_Imperfections\", \"Nickel\", \"Brass_Scratched_Gold_Subtle_Worn_Scratches\", \"PCB_Copper_Smooth\", \"Zinc_Sheet_Glossy_Imperfections\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Wood_Bark\", \"source_episode_index\": 7}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7384477554476148, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6753876209259033, 0.4222000241279602, 0.012000000104308128], \"quaternion\": [0.3659280708154362, 0.3659280708154363, 0.6050592094905196, 0.60505920949052]}, \"12\": {\"position\": [-0.3504643440246582, 0.08612583577632904, 0.03657222166657448], \"quaternion\": [0.5699776827679762, 1.4950819170665615e-05, -0.002088144060698127, -0.8216575202463027]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.099882382786772, -0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.099882382786772, -0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.099882382786772, 0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.099882382786772, 0.7429245736031252, 0.0]}, \"light_radius\": 0.08177430706628616, \"light_length\": 1.7236512638797192, \"light_intensity\": 50000.0, \"light_color_temperature\": 7893.81106527404, \"center_light_postion\": [-0.7241187627979466, -1.0537541716684098, 1.3660403935453866], \"center_light_orientation\": [0.8628804353624695, 0.0, 0.0, -0.5054081066511251]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Bark.mdl\", \"name\": \"Wood_Bark\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Aging_Copper.mdl\", \"name\": \"Aging_Copper\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6268878990752923, \"metallic_constant\": 0.7441210362042222, \"specular_level\": 0.9464107557605268}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7062209992498153, \"metallic_constant\": 0.13648296106238245, \"specular_level\": 0.45186384672157265}, {\"reflection_roughness_constant\": 0.6044475599183677, \"metallic_constant\": 0.8763724158116006, \"specular_level\": 0.4687540264024552}]}}}"}
{"episode_index": 68, "tasks": [0], "length": 1, "dataset_from_index": 68, "dataset_to_index": 68, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961556, \"answer\": \"1\", \"appearance_seed\": 36961556, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Cast_Black_Matte\", \"table_material_tries\": [\"Tweed_Herringbone_Black_White\", \"Zinc_Sheet_Soft_Splotches\", \"Nickel_Scratched_Dark_Matte\", \"Silk_Crepe_de_Chine_Rose\", \"Chromium_Scratched_Dark_Matte\", \"Mortar_Yellow\", \"Chromium_Brushed_Very_Strong_Brushing\", \"Carpet_Woven_Sky_Blue\", \"Concrete_Wall_Aged_Rough_Black_Grunge\", \"Fiberglass_Flat_Weave\", \"Aluminum_Foil_Heavy_Matte_Wrinkled\", \"Chalk_Paint_Pebbles_Moonlight\", \"Polyester_Charmeuse_Black\", \"Zinc_Sheet_Matte_Imperfections\", \"Steel_Brushed_Medium_Brushing\", \"ice_kynite\", \"Garnet\", \"Chromium_Brushed_Medium_Light_Brushing\", \"Steel_Grey_Polished\", \"Jelly_Green_Apple\", \"Concrete_Polished_Matte\", \"Cardboard_Low_Quality_Dirt\", \"Glass_Clear_Light_Dusty_Dirt\", \"Emerald_Metallic\", \"Glass_Clear_Heavy_Mixed_Dirt\", \"Chromium_Sheet_Splotchy_Streaks\", \"Zinc_Foil_Heavy_Matte_Wrinkled\", \"Iron_Cast_Black_Matte\"], \"pads\": {\"1\": [-0.19277, 0.53853], \"2\": [-0.19277, 0.38853], \"3\": [-0.19277, 0.23853]}, \"pick_xy\": [-0.19277, 0.38853], \"spawn\": [-0.49768, 0.32789, 0.24212], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8807760371236335, 0.0009609174542387732, -0.0018539705475980827, -0.4735284699568159], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961556\", \"dr_level\": 2, \"level_seed\": 39961565, \"level_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"level_table_material_tries\": [\"Tungsten_Scratched_Dark_Shiny\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Iron_Cast_Black_Matte\", \"source_episode_index\": 8}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7783986368914896, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6390573978424072, 0.3996323049068451, 0.012000000104308128], \"quaternion\": [0.034973422426505016, 0.034973422426504974, 0.7062413608135517, 0.7062413608135516]}, \"12\": {\"position\": [-0.3861878514289856, 0.08249874413013458, 0.03657222166657448], \"quaternion\": [0.6574936593204359, 0.00024618613527755377, -0.002073634859858231, -0.7534571835109659]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Metal_Cast.mdl\", \"name\": \"Iron_Cast_Black_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0084848252361733, -0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0084848252361733, -0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0084848252361733, 0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0084848252361733, 0.6822870113200142, 0.0]}, \"light_radius\": 0.1113786313874097, \"light_length\": 0.9306526083214228, \"light_intensity\": 50000.0, \"light_color_temperature\": 7142.504675085721, \"center_light_postion\": [0.556195804321568, -0.9890510872624598, 1.4803151839645803], \"center_light_orientation\": [0.7430231408386765, 0.0, 0.0, 0.6692657261344168]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Metal_Cast.mdl\", \"name\": \"Iron_Cast_Black_Matte\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl\", \"name\": \"Ceramic_Tiles_Diamond_Petrol\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.1550295963498457, \"metallic_constant\": 0.8173941984229357, \"specular_level\": 0.23462151390197328}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6863729108562343, \"metallic_constant\": 0.6603135871790587, \"specular_level\": 0.5324630870229223}, {\"reflection_roughness_constant\": 0.6492701880311403, \"metallic_constant\": 0.9006523257793486, \"specular_level\": 0.6443579631048784}]}}}"}
{"episode_index": 69, "tasks": [0], "length": 1, "dataset_from_index": 69, "dataset_to_index": 69, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961657, \"answer\": \"1\", \"appearance_seed\": 12961657, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Paint_Eggshell_Taupe\", \"table_material_tries\": [\"Platinum_Foil_Heavy_Matte_Wrinkled\", \"PCB_Goldfinger\", \"Titanium_Brushed\", \"Paint_Eggshell_Taupe\"], \"pads\": {\"1\": [-0.18156, 0.53701], \"2\": [-0.18156, 0.38701], \"3\": [-0.18156, 0.23701]}, \"pick_xy\": [-0.18156, 0.38701], \"spawn\": [-0.4795, 0.35857, 0.12562], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8517141587020726, 0.0008513527847914603, -0.0019067688850643869, -0.5240025107738282], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a1-s9961657\", \"dr_level\": 2, \"level_seed\": 15961666, \"level_table_material\": \"Gold_Polished\", \"level_table_material_tries\": [\"Gold_Polished\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Paint_Eggshell_Taupe\", \"source_episode_index\": 9}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7092016690232362, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.662318468093872, 0.3710588812828064, 0.012000000104308128], \"quaternion\": [0.1694657796603612, 0.16946577966036128, -0.6864993441541698, -0.6864993441541702]}, \"12\": {\"position\": [-0.37904906272888184, 0.0025286658201366663, 0.03657222166657448], \"quaternion\": [0.5867775315012673, 5.794963438668758e-05, -0.0020873933469994777, -0.8097454957924342]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Taupe\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4160423892031164, -0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4160423892031164, -0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4160423892031164, 0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4160423892031164, 0.837900398924691, 0.0]}, \"light_radius\": 0.08612151869420712, \"light_length\": 1.2626348237033695, \"light_intensity\": 50000.0, \"light_color_temperature\": 7903.476575501577, \"center_light_postion\": [0.10893008996765863, 0.21918660314726468, 1.3354295105877445], \"center_light_orientation\": [0.9685596227670932, 0.0, 0.0, -0.24878154502548236]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Taupe\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Nickel_Scratched.mdl\", \"name\": \"Nickel_Scratched_Scuffs_and_Grime\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.011979504978318567, \"metallic_constant\": 0.8887015696027536, \"specular_level\": 0.4888306485419539}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.10132148847858713, \"metallic_constant\": 0.054844609859976856, \"specular_level\": 0.39952973724642393}, {\"reflection_roughness_constant\": 0.15713776506249433, \"metallic_constant\": 0.4864755327770519, \"specular_level\": 0.12308796413961698}]}}}"}
{"episode_index": 70, "tasks": [0], "length": 1, "dataset_from_index": 70, "dataset_to_index": 70, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960885, \"answer\": \"2\", \"appearance_seed\": 10960885, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Cast_Black_Matte\", \"table_material_tries\": [\"Wood_Tiles_Oak_Mountain_Diagonal\", \"Iron_Cast_Black_Matte\"], \"pads\": {\"1\": [-0.18536, 0.58051], \"2\": [-0.18536, 0.43051], \"3\": [-0.18536, 0.28051]}, \"pick_xy\": [-0.18536, 0.43051], \"spawn\": [-0.48557, 0.34051, 0.26508], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.886153855360811, 0.0009821367288372223, -0.0018428175685864239, -0.463386430595487], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9960885\", \"dr_level\": 2, \"level_seed\": 13960894, \"level_table_material\": \"Stainless_Steel_Matte\", \"level_table_material_tries\": [\"Stainless_Steel_Matte\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Iron_Cast_Black_Matte\", \"source_episode_index\": 10}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7257797390302182, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6434624195098877, 0.4320885241031647, 0.012000000104308128], \"quaternion\": [0.7061530232361576, 0.7061530232361578, -0.03671386351821915, -0.036713863518219265]}, \"12\": {\"position\": [-0.35408705472946167, 0.04560702294111252, 0.03657222166657448], \"quaternion\": [0.6199515466203963, 0.00014472587154459591, -0.002083176316908686, -0.7846373170285963]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Metal_Cast.mdl\", \"name\": \"Iron_Cast_Black_Matte\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0520577959734836, -0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0520577959734836, -0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.0520577959734836, 0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.0520577959734836, 0.8710331518206736, 0.0]}, \"light_radius\": 0.08452542107762659, \"light_length\": 1.5345692492155771, \"light_intensity\": 50000.0, \"light_color_temperature\": 7249.727456613413, \"center_light_postion\": [0.5519683837999727, -0.4208948288576967, 1.4092680363422496], \"center_light_orientation\": [0.8994537635832948, 0.0, 0.0, -0.4370159346932861]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Metal_Cast.mdl\", \"name\": \"Iron_Cast_Black_Matte\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint.mdl\", \"name\": \"Chalk_Paint_Black_Bean\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.2705316277551535, \"metallic_constant\": 0.2836667614212256, \"specular_level\": 0.44074573393069005}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.19601218422070588, \"metallic_constant\": 0.2516538769574267, \"specular_level\": 0.8832608410812206}, {\"reflection_roughness_constant\": 0.15406532273572004, \"metallic_constant\": 0.42686433052863204, \"specular_level\": 0.6697579404499435}]}}}"}
{"episode_index": 71, "tasks": [0], "length": 1, "dataset_from_index": 71, "dataset_to_index": 71, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960960, \"answer\": \"2\", \"appearance_seed\": 23960960, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Iron_Brushed_Medium_Light_Brushing\", \"table_material_tries\": [\"Chromium_Polished\", \"concrete_precast_sienna\", \"Copper_Polished\", \"Metal_Cast_Painted_Gray\", \"Silk_Charmeuse_Lavender\", \"Fabric_Cotton_Roughly_Woven_Green\", \"Defined_Reflections_Damaged_Concrete\", \"Chromium_Sheet_Glossy_Imperfections\", \"Semi_Aniline_Black\", \"ABS_Spotty_Woven_Leather_Brown\", \"Zinc_Foil_Heavy_Matte_Wrinkled\", \"ABS_Hard_Leather_Sky\", \"Tungsten_Foil_Shiny_Wrinkled\", \"Red_Murdered_Candy_Coat\", \"Iron_Brushed_Medium_Light_Brushing\"], \"pads\": {\"1\": [-0.20461, 0.46194], \"2\": [-0.20461, 0.31194], \"3\": [-0.20461, 0.16194]}, \"pick_xy\": [-0.20461, 0.31194], \"spawn\": [-0.52854, 0.28644, 0.16632], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.862201914985785, 0.0008899817686846978, -0.0018890478015737761, -0.5065604576214969], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9960960\", \"dr_level\": 2, \"level_seed\": 37960969, \"level_table_material\": \"Woven_Metal_02_Brass_Pure\", \"level_table_material_tries\": [\"Glass_Clear_Heavy_Mixed_Dirt\", \"Chalk_Paint_Pebbles_Charcoal_Blue\", \"Wood_Tiles_Poplar_Cubes\", \"concrete_precast_warm_gray\", \"OSB_Wood_Shiny\", \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\", \"Glass_Glazing_Tinted_Dark_Bronze\", \"Paint_Eggshell_Cashmere\", \"Bronze_Scratched\", \"Bronze_Brushed_Yellow_Medium\", \"Copper_Antique_Brushed_Shiny_Smudged\", \"Woven_Metal_02_Brass_Pure\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Iron_Brushed_Medium_Light_Brushing\", \"source_episode_index\": 11}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.770742069535598, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6597704887390137, 0.39013317227363586, 0.012000000104308128], \"quaternion\": [0.1148633397158785, 0.11486333971587848, -0.6977151375664102, -0.6977151375664103]}, \"12\": {\"position\": [-0.3503058850765228, -0.04822985455393791, 0.03657222166657448], \"quaternion\": [0.5474978585708802, -4.1652278631251894e-05, -0.0020877821325284707, -0.8368044779344542]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Medium_Light_Brushing\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5362089518598476, -1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5362089518598476, -1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5362089518598476, 1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5362089518598476, 1.225772366031261, 0.0]}, \"light_radius\": 0.08537091305916286, \"light_length\": 1.1979715594117433, \"light_intensity\": 50000.0, \"light_color_temperature\": 6022.613766583312, \"center_light_postion\": [0.6040825893088282, -0.2913505848700889, 1.4800222419999816], \"center_light_orientation\": [0.9352471440403043, 0.0, 0.0, -0.35399545133300003]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Iron_Brushed.mdl\", \"name\": \"Iron_Brushed_Medium_Light_Brushing\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Metallic.mdl\", \"name\": \"Bright_Silver_Metallic\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3387099098880926, \"metallic_constant\": 0.4416780455761381, \"specular_level\": 0.7848792046945094}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.09330847333175074, \"metallic_constant\": 0.5902897159447623, \"specular_level\": 0.49235883423462545}, {\"reflection_roughness_constant\": 0.5987302441695279, \"metallic_constant\": 0.7513214500266254, \"specular_level\": 0.5075258705855988}]}}}"}
{"episode_index": 72, "tasks": [0], "length": 1, "dataset_from_index": 72, "dataset_to_index": 72, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961045, \"answer\": \"2\", \"appearance_seed\": 22961045, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Terrazzo_Freckled_Highlights\", \"table_material_tries\": [\"Brass_Sheet_Yellow_Soft_Splotches\", \"Wood_Tiles_Walnut_Brickbond\", \"Laminate_Oak\", \"Iron_Scratched_Dark_Shiny\", \"Iron_Polished\", \"Zinc_Sheet\", \"Aluminum_Brushed\", \"Stainless_Steel_Shiny_Smudged\", \"Chalk_Paint_Morning_Dew\", \"Black\", \"Fiberglass_Torn_Imperfections\", \"Wood_Tiles_Beech_Chantilly\", \"Zinc_Foil_Heavy_Matte_Wrinkled\", \"Terrazzo_Freckled_Highlights\"], \"pads\": {\"1\": [-0.18071, 0.58028], \"2\": [-0.18071, 0.43028], \"3\": [-0.18071, 0.28028]}, \"pick_xy\": [-0.18071, 0.43028], \"spawn\": [-0.48542, 0.35544, 0.22698], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8771656698930295, 0.0009468533487906649, -0.0018611925964568425, -0.4801833264410253], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961045\", \"dr_level\": 2, \"level_seed\": 34961054, \"level_table_material\": \"Spongy_Concrete_Weathered_Rough\", \"level_table_material_tries\": [\"Bronze_Knurling_Rough_Dirty\", \"Concrete_Wall_Aged_Slight_Grunge\", \"Suede_Leather_Light_Blue\", \"Fabric_Cotton_Fine_Woven\", \"OSB_Wood\", \"blue_eyes\", \"Gold_Sheet_Glossy_Streaks\", \"Rosa_Beta_Matte\", \"Chromium_Sheet_Glossy_Imperfections\", \"Spongy_Concrete_Weathered_Rough\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Terrazzo_Freckled_Highlights\", \"source_episode_index\": 12}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7411383042745094, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.639132261276245, 0.42334336042404175, 0.012000000104308128], \"quaternion\": [0.14770846837215704, 0.1477084683721569, 0.6915072005201043, 0.6915072005201043]}, \"12\": {\"position\": [-0.3837747871875763, -0.06536557525396347, 0.03657222166657448], \"quaternion\": [0.614580711760139, 0.00013050153017876825, -0.0020841157587433434, -0.7888511825200336]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Stone/Terrazzo.mdl\", \"name\": \"Terrazzo_Freckled_Highlights\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9050046841589432, -1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9050046841589432, -1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.9050046841589432, 1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.9050046841589432, 1.0419549295731458, 0.0]}, \"light_radius\": 0.09930988603057381, \"light_length\": 1.8900506496851, \"light_intensity\": 50000.0, \"light_color_temperature\": 6505.726708242904, \"center_light_postion\": [0.47127017370397484, -0.06500643781704252, 1.4740414717678882], \"center_light_orientation\": [0.9630445972883268, 0.0, 0.0, 0.26934198267957477]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Stone/Terrazzo.mdl\", \"name\": \"Terrazzo_Freckled_Highlights\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Glass/Glass_Smudged.mdl\", \"name\": \"Glass_Smudged\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.28899351929821204, \"metallic_constant\": 0.928080710048665, \"specular_level\": 0.6120833590784487}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.20206060682652105, \"metallic_constant\": 0.09170243596829963, \"specular_level\": 0.11837744105109882}, {\"reflection_roughness_constant\": 0.7961632893177397, \"metallic_constant\": 0.5218468571432779, \"specular_level\": 0.7842319579578939}]}}}"}
{"episode_index": 73, "tasks": [0], "length": 1, "dataset_from_index": 73, "dataset_to_index": 73, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961081, \"answer\": \"2\", \"appearance_seed\": 9961081, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"table_material_tries\": [\"Tungsten_Scratched_Dark_Shiny\"], \"pads\": {\"1\": [-0.17164, 0.56454], \"2\": [-0.17164, 0.41454], \"3\": [-0.17164, 0.26454]}, \"pick_xy\": [-0.17164, 0.41454], \"spawn\": [-0.46832, 0.38434, 0.15661], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8597318951560844, 0.000880798072224595, -0.0018933472743232543, -0.5107413316760088], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961081\", \"dr_level\": 2, \"level_seed\": 13961090, \"level_table_material\": \"Aniline_Leather_Black\", \"level_table_material_tries\": [\"Glass_Clear_Saturated_Blue\", \"Aniline_Leather_Black\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"source_episode_index\": 13}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7583029294538803, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.636866331100464, 0.36183956265449524, 0.012000000104308128], \"quaternion\": [0.5216340132562911, 0.5216340132562912, -0.47738658989767946, -0.47738658989767946]}, \"12\": {\"position\": [-0.38387730717658997, 0.08861219137907028, 0.03657222166657448], \"quaternion\": [0.5523603794934105, -2.9496694900808445e-05, -0.0020879892457126292, -0.8336028134529957]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.181993517080797, -1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.181993517080797, -1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.181993517080797, 1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.181993517080797, 1.1240208213629739, 0.0]}, \"light_radius\": 0.08340263143718232, \"light_length\": 1.4365937324671956, \"light_intensity\": 50000.0, \"light_color_temperature\": 7441.636350878808, \"center_light_postion\": [-0.015116911475187234, -0.24889486511654724, 1.4470983777502786], \"center_light_orientation\": [0.9896430542416796, 0.0, 0.0, 0.1435500790358537]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium_Glossy_Fingerprints\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4100007689395879, \"metallic_constant\": 0.3529209939069805, \"specular_level\": 0.7180472742038077}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.4953261538493483, \"metallic_constant\": 0.6326651986913837, \"specular_level\": 0.7121356508911253}, {\"reflection_roughness_constant\": 0.720841267110433, \"metallic_constant\": 0.27461377858029523, \"specular_level\": 0.02733880972421543}]}}}"}
{"episode_index": 74, "tasks": [0], "length": 1, "dataset_from_index": 74, "dataset_to_index": 74, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961338, \"answer\": \"2\", \"appearance_seed\": 9961338, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Bronze_Brushed_Yellow_Dirty_Medium\", \"table_material_tries\": [\"Bronze_Brushed_Yellow_Dirty_Medium\"], \"pads\": {\"1\": [-0.19474, 0.59233], \"2\": [-0.19474, 0.44233], \"3\": [-0.19474, 0.29233]}, \"pick_xy\": [-0.19474, 0.44233], \"spawn\": [-0.49819, 0.36031, 0.26983], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8872527687089407, 0.0009865141211163, -0.0018404779363143677, -0.46127883524954244], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961338\", \"dr_level\": 2, \"level_seed\": 21961347, \"level_table_material\": \"Bronze_Yellow_Worn\", \"level_table_material_tries\": [\"Tungsten_Sheet_Soft_Splotches\", \"Pull_Up_Leather_Violet\", \"Platinum_Sheet_Glossy_Streaks\", \"Aluminum_Foil_Smudged_Foil\", \"Brass_Brushed_Red_Fine\", \"Tungsten_Sheet_Glossy_Imperfections\", \"Glass_Optical_BAF\", \"Glass_Optical_FK\", \"Nickel_Scratched_Light_Bumpy\", \"Bronze_Yellow_Worn\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Bronze_Brushed_Yellow_Dirty_Medium\", \"source_episode_index\": 14}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.773798809590931, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.606963872909546, 0.4325806200504303, 0.012000000104308128], \"quaternion\": [0.6294826031037803, 0.6294826031037802, -0.32210503316416605, -0.3221050331641662]}, \"12\": {\"position\": [-0.38198786973953247, 0.03088950179517269, 0.03657222166657448], \"quaternion\": [0.5511977296040673, -3.240750063067651e-05, -0.002087946095838067, -0.8343720407049701]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Brushed.mdl\", \"name\": \"Bronze_Brushed_Yellow_Dirty_Medium\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4955062110423127, -0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4955062110423127, -0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4955062110423127, 0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4955062110423127, 0.9090053797224116, 0.0]}, \"light_radius\": 0.09943937928725362, \"light_length\": 2.0432027468972214, \"light_intensity\": 50000.0, \"light_color_temperature\": 6538.27414532618, \"center_light_postion\": [-0.4937794958321873, 0.12394465282700073, 1.3106646980670567], \"center_light_orientation\": [0.9980101610092577, 0.0, 0.0, 0.06305329905941162]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Bronze_Brushed.mdl\", \"name\": \"Bronze_Brushed_Yellow_Dirty_Medium\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Pine.mdl\", \"name\": \"Wood_Tiles_Pine_Chevron\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.37695528516557497, \"metallic_constant\": 0.10993419324031328, \"specular_level\": 0.9082189024853373}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.7655342605456952, \"metallic_constant\": 0.724071375532538, \"specular_level\": 0.851390443228286}, {\"reflection_roughness_constant\": 0.49972068671374104, \"metallic_constant\": 0.713177289804831, \"specular_level\": 0.30432402050826723}]}}}"}
{"episode_index": 75, "tasks": [0], "length": 1, "dataset_from_index": 75, "dataset_to_index": 75, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961340, \"answer\": \"2\", \"appearance_seed\": 19961340, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"table_material_tries\": [\"Plastic_Thick_Translucent\", \"Zinc_Rough_Heavy_Shiny_Oxidized\", \"Chalk_Paint_Pebbles_Night_Watch\", \"Copper_Sheet_Splotchy_Streaks\", \"Ground_Hard_Court\", \"Polyethylene_Light_Gray\", \"Mirror_Cool_Tint\", \"Bronze_Scratched_Yellow_Heavy_Worn_Scratches\", \"Velvet_White\", \"Woven_Metal_03_Copper_Polished\", \"Tungsten_Scratched_Dark_Shiny\"], \"pads\": {\"1\": [-0.1828, 0.58754], \"2\": [-0.1828, 0.43754], \"3\": [-0.1828, 0.28754]}, \"pick_xy\": [-0.1828, 0.43754], \"spawn\": [-0.48501, 0.40536, 0.09418], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8433723229728587, 0.0008212757778833109, -0.001919915425711253, -0.5373255663694214], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961340\", \"dr_level\": 2, \"level_seed\": 24961349, \"level_table_material\": \"Aquatic\", \"level_table_material_tries\": [\"Terrazzo_Shiny_Clean\", \"Titanium_Polished\", \"Aquatic\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"source_episode_index\": 15}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7329751066042088, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.673912525177002, 0.43640175461769104, 0.012000000104308128], \"quaternion\": [0.6873884317565933, 0.6873884317565933, 0.16582262779009183, 0.1658226277900919]}, \"12\": {\"position\": [-0.3792778551578522, 0.032487109303474426, 0.03657222166657448], \"quaternion\": [0.5668056620962025, 6.900163248987152e-06, -0.0020881861825445824, -0.8238488822876078]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4131196435565774, -1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4131196435565774, -1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4131196435565774, 1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4131196435565774, 1.2274553506105153, 0.0]}, \"light_radius\": 0.09910789108063656, \"light_length\": 1.876515198622898, \"light_intensity\": 50000.0, \"light_color_temperature\": 6286.2479799123375, \"center_light_postion\": [-0.4887997468668166, -0.368976793472516, 1.3312948114466978], \"center_light_orientation\": [0.9922536933807821, 0.0, 0.0, -0.12422804825077534]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Scratched.mdl\", \"name\": \"Tungsten_Scratched_Dark_Shiny\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Plastic/Plastic_Thick_Translucent_Flakes.mdl\", \"name\": \"metallic_plastic_simple_controls\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.3778238120828008, \"metallic_constant\": 0.0016595031127403237, \"specular_level\": 0.9284457799659166}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3227612932528148, \"metallic_constant\": 0.31133791817550316, \"specular_level\": 0.3512270332179782}, {\"reflection_roughness_constant\": 0.4511678017909633, \"metallic_constant\": 0.9263685164021049, \"specular_level\": 0.3754037901124919}]}}}"}
{"episode_index": 76, "tasks": [0], "length": 1, "dataset_from_index": 76, "dataset_to_index": 76, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961459, \"answer\": \"2\", \"appearance_seed\": 14961459, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Tungsten_Brushed\", \"table_material_tries\": [\"Steel_Grey_Alabaster\", \"Brass_Sheet_Gold_New_Clean\", \"Ruby\", \"Tungsten_Sheet_Soft_Splotches\", \"PCB_Solder_Mask\", \"Tungsten_Brushed\"], \"pads\": {\"1\": [-0.1844, 0.48595], \"2\": [-0.1844, 0.33595], \"3\": [-0.1844, 0.18595]}, \"pick_xy\": [-0.1844, 0.33595], \"spawn\": [-0.496, 0.28299, 0.16519], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8619144702819906, 0.0008889102138068132, -0.00188955226892822, -0.5070493914298396], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961459\", \"dr_level\": 2, \"level_seed\": 27961468, \"level_table_material\": \"White\", \"level_table_material_tries\": [\"Fiberglass_Flat_Weave\", \"Glass_Glazing_Tinted_Green\", \"ABS_Soft_Woven_Leather_Dark\", \"Mulch_Dry_Contrast\", \"Silver_Foil_Matte_Wrinkled\", \"Plastic_Thick_Translucent_Flakes\", \"Aluminum\", \"Tungsten_Brushed_Light_Brushing\", \"Polyethylene_Yellow\", \"Zinc_Galvanizing\", \"White\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Tungsten_Brushed\", \"source_episode_index\": 16}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7799869161146887, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6596572399139404, 0.36794230341911316, 0.012000000104308128], \"quaternion\": [0.23916161199205213, 0.23916161199205216, 0.6654334852931308, 0.6654334852931307]}, \"12\": {\"position\": [-0.3799542784690857, 0.07735224813222885, 0.03657222166657448], \"quaternion\": [0.6451503139214418, 0.0002124221226432154, -0.002077365154957822, -0.7640528200837423]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Brushed.mdl\", \"name\": \"Tungsten_Brushed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0105809747331924, -0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0105809747331924, -0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.0105809747331924, 0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0105809747331924, 0.9153213594153151, 0.0]}, \"light_radius\": 0.0878717338529714, \"light_length\": 0.6441351851732675, \"light_intensity\": 50000.0, \"light_color_temperature\": 7257.16787534333, \"center_light_postion\": [-0.12480728746023573, 0.035695777335107204, 1.4683923805045371], \"center_light_orientation\": [0.8661562411928492, 0.0, 0.0, -0.49977331445633916]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Brushed.mdl\", \"name\": \"Tungsten_Brushed\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Zinc_Galvanizing.mdl\", \"name\": \"Zinc_Galvanizing\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.4518234364444005, \"metallic_constant\": 0.68381989077443, \"specular_level\": 0.5101505643235772}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.12686535870375415, \"metallic_constant\": 0.3769589708915616, \"specular_level\": 0.2679135183915038}, {\"reflection_roughness_constant\": 0.003924884511407378, \"metallic_constant\": 0.9874525367417168, \"specular_level\": 0.5197656430154767}]}}}"}
{"episode_index": 77, "tasks": [0], "length": 1, "dataset_from_index": 77, "dataset_to_index": 77, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961632, \"answer\": \"2\", \"appearance_seed\": 29961632, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Chromium_Glossy_Fingerprints\", \"table_material_tries\": [\"Paint_Eggshell_Cashmere\", \"Woven_Metal_01_Steel_Brass\", \"Brass_Foil_Yellow_Heavy_Wrinkles\", \"Bronze_Worn\", \"Glass_Clear_Medium_Frit\", \"Silk_Charmeuse_Natural\", \"Platinum_Brushed\", \"Paint_Eggshell_Sunny\", \"Bronze_Scratched_Yellow_Heavy_Worn_Scratches\", \"Devil_Black_Ripple\", \"Woven_Metal_03_Copper_Worn\", \"Water_Murky_Perlinwaves_Rusty_Lake\", \"Polyethylene_Yellow\", \"Water_Murky_Perlinwaves_Green_Pond\", \"Bronze_Brushed_Yellow_Fine\", \"Brass_Polished_Red_Shiny_Polish\", \"Aquamarine\", \"Jelly_Clear_Red_Strawberry\", \"PU_Split_Leather_Beige\", \"Chameleon_Pigment_Goblin_Fire\", \"Chromium_Glossy_Fingerprints\"], \"pads\": {\"1\": [-0.17401, 0.60207], \"2\": [-0.17401, 0.45207], \"3\": [-0.17401, 0.30207]}, \"pick_xy\": [-0.17401, 0.45207], \"spawn\": [-0.4737, 0.42195, 0.12071], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.850424679380168, 0.0008466673364038173, -0.0019088539930253241, -0.5260926763717528], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961632\", \"dr_level\": 2, \"level_seed\": 40961641, \"level_table_material\": \"Gold_Polished\", \"level_table_material_tries\": [\"Woven_Metal_01_Pure_Steel\", \"Concrete_Wall_Even_Greenish_Dirty\", \"PCB_Solder_Mask_Black\", \"Bronze_Worn\", \"Polycarbonate_Cloudy\", \"Effect_Pigment_Metallic\", \"Zinc_Sheet_Glossy_Streaks\", \"Wood_Cork_Coated_Matte\", \"Gold_Polished\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Chromium_Glossy_Fingerprints\", \"source_episode_index\": 17}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7190358930424328, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6346940994262695, 0.359435498714447, 0.012000000104308128], \"quaternion\": [0.4086701246806903, 0.4086701246806902, 0.5770517560786633, 0.5770517560786633]}, \"12\": {\"position\": [-0.385438472032547, 0.05774931237101555, 0.03657222166657448], \"quaternion\": [0.6518795599251681, 0.0002307783528717654, -0.002075406104131705, -0.7583196415645737]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium_Glossy_Fingerprints\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5613296882760859, -0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5613296882760859, -0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.5613296882760859, 0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.5613296882760859, 0.8806337654374051, 0.0]}, \"light_radius\": 0.09603212348603009, \"light_length\": 1.4761299796065095, \"light_intensity\": 50000.0, \"light_color_temperature\": 6615.554273216395, \"center_light_postion\": [-0.2610235137486213, 0.05057827955958749, 1.3094981090696485], \"center_light_orientation\": [0.9372464759947314, 0.0, 0.0, 0.34866752535253015]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Chromium.mdl\", \"name\": \"Chromium_Glossy_Fingerprints\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square.mdl\", \"name\": \"Ceramic_Tiles_Square_Dark_Blue_New_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6107617635351666, \"metallic_constant\": 0.8391953956787277, \"specular_level\": 0.3980304391113265}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6847442312358539, \"metallic_constant\": 0.2308291369558948, \"specular_level\": 0.3217106762107095}, {\"reflection_roughness_constant\": 0.44611633484315316, \"metallic_constant\": 0.5168732810343896, \"specular_level\": 0.4360328959377465}]}}}"}
{"episode_index": 78, "tasks": [0], "length": 1, "dataset_from_index": 78, "dataset_to_index": 78, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961749, \"answer\": \"2\", \"appearance_seed\": 14961749, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Wood_Tiles_Fineline_Chantilly\", \"table_material_tries\": [\"Mortar_Antique_White\", \"Chalk_Paint_Moonstone\", \"Zinc_Hammered_Shiny\", \"Nickel_Scratched_Light_Bumpy\", \"Gold_Sheet_Matte_Imperfections\", \"Wood_Tiles_Fineline_Chantilly\"], \"pads\": {\"1\": [-0.18356, 0.5247], \"2\": [-0.18356, 0.3747], \"3\": [-0.18356, 0.2247]}, \"pick_xy\": [-0.18356, 0.3747], \"spawn\": [-0.47502, 0.28841, 0.25303], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8833447876458214, 0.0009710116656342822, -0.0018487037324633703, -0.4687191329248404], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961749\", \"dr_level\": 2, \"level_seed\": 21961758, \"level_table_material\": \"Pigmented_Smooth_Leather_Green\", \"level_table_material_tries\": [\"ABS_Hard_Leather_Vintage_Rose\", \"Woven_Metal_01_Steel_Brass\", \"Water_Murky_Perlinwaves_Green_Lake_Heavy_Scattering\", \"Silver_Scratched\", \"Pigmented_Smooth_Leather_Green\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Wood_Tiles_Fineline_Chantilly\", \"source_episode_index\": 18}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7174698835862323, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6306958198547363, 0.3639949560165405, 0.012000000104308128], \"quaternion\": [0.7015316400792115, 0.7015316400792112, -0.0886191738156693, -0.08861917381566926]}, \"12\": {\"position\": [-0.38803112506866455, 0.0755806714296341, 0.03657222166657448], \"quaternion\": [0.5651246329785118, 2.642279082401993e-06, -0.0020881959112076798, -0.8250029021959603]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chantilly\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4011361392146915, -1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4011361392146915, -1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4011361392146915, 1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4011361392146915, 1.0478504465177152, 0.0]}, \"light_radius\": 0.08429188647294206, \"light_length\": 1.401774245591656, \"light_intensity\": 50000.0, \"light_color_temperature\": 7369.259763734048, \"center_light_postion\": [-0.9940003811259237, 1.0245794345311006, 1.4322840799481134], \"center_light_orientation\": [0.8361434530271626, 0.0, 0.0, -0.5485108257453203]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Chantilly\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Leather/PU_Split_Leather.mdl\", \"name\": \"PU_Split_Leather_Light_Salmon\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.458010129141904, \"metallic_constant\": 0.538883414735421, \"specular_level\": 0.37000255658302594}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.6268777235538504, \"metallic_constant\": 0.015280797711549665, \"specular_level\": 0.7914379632283252}, {\"reflection_roughness_constant\": 0.9368315408607814, \"metallic_constant\": 0.7865965169916335, \"specular_level\": 0.13015014959435955}]}}}"}
{"episode_index": 79, "tasks": [0], "length": 1, "dataset_from_index": 79, "dataset_to_index": 79, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961895, \"answer\": \"2\", \"appearance_seed\": 18961895, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Chalk_Paint_Pebbles_Roses\", \"table_material_tries\": [\"ABS_Hard_Leather\", \"Jelly_Clear_Orange\", \"Aluminum_Brushed_Very_Strong_Brushing\", \"Aluminum_Brushed_Very_Strong_Brushing\", \"Copper_Antique_Brushed_Very_Strong_Patina\", \"Ceramic_Tiles_Pinwheel_Yellow_Varied\", \"Polycarbonate_Spectral_Clear\", \"Facade_Brick_Glaced\", \"Rosa_Beta_Grunge\", \"Chalk_Paint_Pebbles_Roses\"], \"pads\": {\"1\": [-0.17897, 0.54099], \"2\": [-0.17897, 0.39099], \"3\": [-0.17897, 0.24099]}, \"pick_xy\": [-0.17897, 0.39099], \"spawn\": [-0.48692, 0.34406, 0.06893], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8365228378052776, 0.0007969765539288223, -0.001930128886294798, -0.5479280803728356], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a2-s9961895\", \"dr_level\": 2, \"level_seed\": 38961904, \"level_table_material\": \"Pull_Up_Leather_Red_Wine\", \"level_table_material_tries\": [\"Granite_Polished\", \"concrete_precast_sienna\", \"Polypropylene_Lemon\", \"Bronze_Red_New\", \"Titanium_Polished\", \"Rosa_Beta_Stain\", \"Tweed_Herringbone_Mustard\", \"Wood_Tiles_Ash_Cubes\", \"Glass_Optical_BASF\", \"Chromium_Brushed\", \"Polyethylene_Dark_Gray\", \"emerald_pearl\", \"Aluminum_Brushed\", \"Garnet\", \"Zinc_Foil_Matte_Wrinkled\", \"Brass_Antique_Shiny_Stained\", \"Mosaic_Multi_Color_Stone\", \"Pull_Up_Leather_Red_Wine\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Chalk_Paint_Pebbles_Roses\", \"source_episode_index\": 19}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7088775144516152, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.62174654006958, 0.42143404483795166, 0.012000000104308128], \"quaternion\": [0.5270452085649218, 0.5270452085649218, -0.4714057149937386, -0.4714057149937387]}, \"12\": {\"position\": [-0.3602427542209625, 0.08510103076696396, 0.03657222166657448], \"quaternion\": [0.5579604261649289, -1.5437797955640455e-05, -0.0020881405172106238, -0.8298649301330342]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Roses\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4703764129254457, -1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4703764129254457, -1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4703764129254457, 1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4703764129254457, 1.089258172918436, 0.0]}, \"light_radius\": 0.09320698674267924, \"light_length\": 1.4686011937881664, \"light_intensity\": 50000.0, \"light_color_temperature\": 7610.983424490154, \"center_light_postion\": [-0.3134355690392845, 0.974079491884623, 1.407660787664197], \"center_light_orientation\": [0.9550329885849401, 0.0, 0.0, 0.29649956275603095]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Paint/Chalk_Paint_Pebbles.mdl\", \"name\": \"Chalk_Paint_Pebbles_Roses\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Wood/Wood_Tiles_Fineline.mdl\", \"name\": \"Wood_Tiles_Fineline_Stackbond\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9551136071242345, \"metallic_constant\": 0.5740347154870329, \"specular_level\": 0.9368835363939123}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.18954588349502355, \"metallic_constant\": 0.9078738055038075, \"specular_level\": 0.8463703261464824}, {\"reflection_roughness_constant\": 0.9721621303681598, \"metallic_constant\": 0.8884990758424899, \"specular_level\": 0.26729019964408696}]}}}"}
{"episode_index": 80, "tasks": [0], "length": 1, "dataset_from_index": 80, "dataset_to_index": 80, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960825, \"answer\": \"3\", \"appearance_seed\": 10960825, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Platinum\", \"table_material_tries\": [\"concrete_precast_warm_gray\", \"Platinum\"], \"pads\": {\"1\": [-0.1544, 0.54594], \"2\": [-0.1544, 0.39594], \"3\": [-0.1544, 0.24594]}, \"pick_xy\": [-0.1544, 0.39594], \"spawn\": [-0.46086, 0.38408, 0.06713], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8360275220775062, 0.0007952326342262029, -0.0019308480527176432, -0.5486835351637593], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9960825\", \"dr_level\": 2, \"level_seed\": 30960834, \"level_table_material\": \"Paint_Eggshell_Light_Denim\", \"level_table_material_tries\": [\"Titanium_Brushed_Medium_Brushing\", \"Bronze_Scratched_Yellow_Heavy_Worn_Scratches\", \"Glass_Optical_FK\", \"Silk_Crepe_de_Chine_Sky_Blue\", \"Bronze_Brushed_Yellow_Strong\", \"Fadely_Yellowish_Moss\", \"Zinc_Sheet\", \"PCB_Solder_Mask_Black_Fast\", \"Bronze_Red_Shiny_Handled\", \"Chalk_Paint_Dark_Forest\", \"Brass_Scratched_Gold_Polished_Subtle_Dark_Scratches\", \"PCB_Solder_Mask_White_Fast\", \"Fiberglass_Bumpy_Imperfections\", \"Brass_Foil_Red_Heavy_Wrinkles\", \"Jelly_Dark_Red_Raspberry\", \"Polycarbonate_Lemon\", \"Brass_Polished_Gold_Matte_Polish\", \"Paint_Eggshell_Light_Denim\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Platinum\", \"source_episode_index\": 20}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7495440794665565, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.627647876739502, 0.423605352640152, 0.012000000104308128], \"quaternion\": [0.18681888687468662, 0.18681888687468656, 0.6819814539317789, 0.6819814539317788]}, \"12\": {\"position\": [-0.37954381108283997, 0.0448874905705452, 0.03657222166657448], \"quaternion\": [0.5586378339611432, -1.3732803244497842e-05, -0.002088152426269807, -0.8294090727126495]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Platinum.mdl\", \"name\": \"Platinum\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.3231626631984463, -1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.3231626631984463, -1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.3231626631984463, 1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.3231626631984463, 1.0744727010002812, 0.0]}, \"light_radius\": 0.09605037532605334, \"light_length\": 1.5212095301496487, \"light_intensity\": 50000.0, \"light_color_temperature\": 7848.7416142375505, \"center_light_postion\": [0.010075636000570043, 0.8750869078541601, 1.4924084036443355], \"center_light_orientation\": [0.9768534696863272, 0.0, 0.0, -0.21390955743440682]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Platinum.mdl\", \"name\": \"Platinum\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Fabric/Velvet.mdl\", \"name\": \"Velvet_Dark_Grey\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.33437841584354433, \"metallic_constant\": 0.06458441932742409, \"specular_level\": 0.7547400053266758}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.24919153124693794, \"metallic_constant\": 0.8087963304286417, \"specular_level\": 0.6766713161709035}, {\"reflection_roughness_constant\": 0.8482349886335145, \"metallic_constant\": 0.03398753995913273, \"specular_level\": 0.003517897210145282}]}}}"}
{"episode_index": 81, "tasks": [0], "length": 1, "dataset_from_index": 81, "dataset_to_index": 81, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960931, \"answer\": \"3\", \"appearance_seed\": 13960931, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"table_material_tries\": [\"White_Chameleon\", \"medium_pitted_steel\", \"Woven_Metal_01_Faint_Copper\", \"Silk_Crepe_de_Chine_Sky_Blue\", \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"], \"pads\": {\"1\": [-0.18082, 0.50034], \"2\": [-0.18082, 0.35034], \"3\": [-0.18082, 0.20034]}, \"pick_xy\": [-0.18082, 0.35034], \"spawn\": [-0.48888, 0.27846, 0.26153], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8853292909593724, 0.000978861572018051, -0.001844559342511975, -0.46495987568846225], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9960931\", \"dr_level\": 2, \"level_seed\": 26960940, \"level_table_material\": \"Polyester_Twill_Light_Brown\", \"level_table_material_tries\": [\"Tungsten_Sheet_Splotchy_Streaks\", \"Polyester_Herringbone_Light_Brown\", \"Bronze_Sheet_Matte_Imperfections\", \"Cardboard_Low_Quality_Corrugation\", \"Wood_Cork_Coated_Matte\", \"Polyester_Twill_Beige\", \"Brass_Scratched_Yellow_Heavy_Worn_Scratches\", \"Velvet_Dark_Grey\", \"Steel_Grey_Bright\", \"Polycarbonate_Cloudy_Thick\", \"Polyester_Twill_Light_Brown\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\", \"source_episode_index\": 21}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7502637070831365, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.681739568710327, 0.38192319869995117, 0.012000000104308128], \"quaternion\": [0.6824089207019657, 0.6824089207019659, -0.18525135612561128, -0.1852513561256113]}, \"12\": {\"position\": [-0.3544171154499054, 0.05646386370062828, 0.03657222166657448], \"quaternion\": [0.6533314201107973, 0.00023475472611036202, -0.0020749600872767004, -0.7570691480484883]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.790119706980953, -1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.790119706980953, -1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.790119706980953, 1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.790119706980953, 1.068635817217896, 0.0]}, \"light_radius\": 0.10077734777171213, \"light_length\": 1.5252256999227387, \"light_intensity\": 50000.0, \"light_color_temperature\": 7395.939044979344, \"center_light_postion\": [0.044918279227103675, 0.9402766093680714, 1.325348603635252], \"center_light_orientation\": [0.9394543766695581, 0.0, 0.0, 0.34267400566195866]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered_Mossy.mdl\", \"name\": \"Spongy_Concrete_Weathered_Mossy_Dark_Dirt\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl\", \"name\": \"Ceramic_Tiles_Subway_White_Matte\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.01963572956844639, \"metallic_constant\": 0.4611746284877253, \"specular_level\": 0.9046281896424117}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.30022101613466123, \"metallic_constant\": 0.19221198194483768, \"specular_level\": 0.7610187542999176}, {\"reflection_roughness_constant\": 0.4316990677278423, \"metallic_constant\": 0.1388087899779844, \"specular_level\": 0.951629628692632}]}}}"}
{"episode_index": 82, "tasks": [0], "length": 1, "dataset_from_index": 82, "dataset_to_index": 82, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960954, \"answer\": \"3\", \"appearance_seed\": 14960954, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Spongy_Concrete_Weathered_Rough\", \"table_material_tries\": [\"PCB_Solder_Mask_White_Fast\", \"Glass_Glazing_Tinted_Green\", \"Zinc_Scratched_Dark_Matte\", \"Brass_Foil_Red_Heavy_Wrinkles\", \"Bronze_Foil_Heavy_Wrinkles\", \"Spongy_Concrete_Weathered_Rough\"], \"pads\": {\"1\": [-0.17263, 0.51244], \"2\": [-0.17263, 0.36244], \"3\": [-0.17263, 0.21244]}, \"pick_xy\": [-0.17263, 0.36244], \"spawn\": [-0.47172, 0.32717, 0.18433], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8667264973042571, 0.000906948881401824, -0.0018809606247196773, -0.4987793282620572], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9960954\", \"dr_level\": 2, \"level_seed\": 46960963, \"level_table_material\": \"Rough_Gravel\", \"level_table_material_tries\": [\"Steel_Grey_Polished\", \"Wood_Tiles_Walnut_Chantilly\", \"Stainless_Steel_Cast_Rough\", \"Styrofoam_no_SSS\", \"Iron_Scratched_Light_Bumpy\", \"Glass_Glazing_Tinted_Green\", \"Nickel_Sheet\", \"Polyethylene_Clear\", \"Polypropylene_Cloudy_Rough\", \"PCB_Goldfinger_Soft\", \"Aluminum_Brushed\", \"PCB_Coppery_Soft\", \"plastic_dark_orange\", \"Copper_Sheet_Soft_Splotches\", \"Polyester_Charmeuse_Gold\", \"Ceramic_Tiles_Pinwheel_Antique_White\", \"Iron_Scratched_Light_Bumpy\", \"Silver_Brushed\", \"Brass_Brushed_Red_Strong\", \"Volga_Blue_Deep_Pollished\", \"Brass_Polished_Yellow_Matte_Polish\", \"Bronze_Scratched_Yellow_Heavy_Worn_Scratches\", \"Platinum_Sheet_Splotchy_Streaks\", \"Wood_Tiles_Walnut_Versailles\", \"Silver_Brushed\", \"Chromium_Sheet_Glossy_Imperfections\", \"Brass_Foil_Gold_Flat_Smudged\", \"Water_Murky_Perlin_Green_Lake_Min\", \"Pigmented_Smooth_Leather_Ash_Brown\", \"Rough_Gravel\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Spongy_Concrete_Weathered_Rough\", \"source_episode_index\": 22}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7396551922134802, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.652266025543213, 0.41513869166374207, 0.012000000104308128], \"quaternion\": [0.7012003242442992, 0.7012003242442989, 0.09120364729378994, 0.09120364729378978]}, \"12\": {\"position\": [-0.38314273953437805, 0.06381168961524963, 0.03657222166657448], \"quaternion\": [0.6171453175910285, 0.00013728503547931744, -0.002083679909260172, -0.7868464249180542]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3165571620010494, -0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3165571620010494, -0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3165571620010494, 0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3165571620010494, 0.902972593228826, 0.0]}, \"light_radius\": 0.09547289843271359, \"light_length\": 1.0115111603555886, \"light_intensity\": 50000.0, \"light_color_temperature\": 6805.460284347183, \"center_light_postion\": [-0.26465867957657196, -0.9418696755925897, 1.4261330872351192], \"center_light_orientation\": [0.9380394944169431, 0.0, 0.0, 0.3465283637943736]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Concrete/Spongy_Concrete_Weathered.mdl\", \"name\": \"Spongy_Concrete_Weathered_Rough\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Paint_Eggshell.mdl\", \"name\": \"Paint_Eggshell_Teal\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.6037846528124386, \"metallic_constant\": 0.6130162647242416, \"specular_level\": 0.35627233366896427}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.48280035083757666, \"metallic_constant\": 0.25638428945275527, \"specular_level\": 0.5982221256865744}, {\"reflection_roughness_constant\": 0.4283196153078045, \"metallic_constant\": 0.5270595847373138, \"specular_level\": 0.09185956858272815}]}}}"}
{"episode_index": 83, "tasks": [0], "length": 1, "dataset_from_index": 83, "dataset_to_index": 83, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9960997, \"answer\": \"3\", \"appearance_seed\": 9960997, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Woven_Metal_02_Brass_Pure\", \"table_material_tries\": [\"Woven_Metal_02_Brass_Pure\"], \"pads\": {\"1\": [-0.19493, 0.54741], \"2\": [-0.19493, 0.39741], \"3\": [-0.19493, 0.24741]}, \"pick_xy\": [-0.19493, 0.39741], \"spawn\": [-0.50757, 0.32958, 0.2778], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8890826664046366, 0.0009938355631806937, -0.0018365347855619758, -0.45774190514926316], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9960997\", \"dr_level\": 2, \"level_seed\": 20961006, \"level_table_material\": \"Bronze_Foil\", \"level_table_material_tries\": [\"Silver_Foil_Smudged_Foil\", \"Tungsten_Sheet\", \"Bionic_Flare\", \"Wood_Tiles_Fineline_Brickbond\", \"Wood_Tiles_Pine_Versailles\", \"Copper_Foil_Shiny_Wrinkled\", \"Facade_Brick_Red_Clinker_Painted_Yellow\", \"Chromium_Foil_Smudged_Foil\", \"Bronze_Foil\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Woven_Metal_02_Brass_Pure\", \"source_episode_index\": 23}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7792156411423636, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.625476598739624, 0.3892383277416229, 0.012000000104308128], \"quaternion\": [0.6168642681112857, 0.6168642681112853, -0.3456565849619073, -0.3456565849619074]}, \"12\": {\"position\": [-0.3513650596141815, 0.05980397015810013, 0.03657222166657448], \"quaternion\": [0.6093224561582904, 0.00011664241450999477, -0.002084937335356085, -0.7929197839958866]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Brass_Pure\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4989895706817356, -0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4989895706817356, -0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.4989895706817356, 0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.4989895706817356, 0.8919869476851533, 0.0]}, \"light_radius\": 0.09043954047460023, \"light_length\": 0.5434102646211879, \"light_intensity\": 50000.0, \"light_color_temperature\": 7700.477786835263, \"center_light_postion\": [0.45972862328616104, 0.8396423010963978, 1.326033761279654], \"center_light_orientation\": [0.9715053090677245, 0.0, 0.0, 0.23701779353716287]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Mesh/Metal_Mesh_Weave_02.mdl\", \"name\": \"Woven_Metal_02_Brass_Pure\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Concrete/Concrete_Wall_Aged_Scratched.mdl\", \"name\": \"Concrete_Wall_Aged_Scratched_Shiny\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7702214612109897, \"metallic_constant\": 0.855359828014135, \"specular_level\": 0.3436787335090564}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9976846378705, \"metallic_constant\": 0.6687928438935248, \"specular_level\": 0.24631327792170254}, {\"reflection_roughness_constant\": 0.29600897528589276, \"metallic_constant\": 0.9688279559671965, \"specular_level\": 0.002231461806497803}]}}}"}
{"episode_index": 84, "tasks": [0], "length": 1, "dataset_from_index": 84, "dataset_to_index": 84, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961056, \"answer\": \"3\", \"appearance_seed\": 25961056, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Aniline_Leather_Black\", \"table_material_tries\": [\"Brass_Gold_Worn\", \"Chromium_Scratched_Scuffs_and_Grime\", \"Glass_Glazing_Tinted_Green\", \"Polyethylene_Cloudy\", \"Chameleon_Pigment_Golden_Lavender\", \"Chalk_Paint_Pebbles_Contemplation\", \"Silver_Foil_Heavy_Matte_Wrinkled\", \"Rug_Carpet_Honeycomb\", \"Water_Murky_Perlinwaves_Dirty_Broth_Dense\", \"Chromium_Brushed_Very_Strong_Brushing\", \"Copper_Brushed_Medium_Brushing\", \"OSB_Wood_Splattered\", \"Tungsten_Scratched_Light_Bumpy\", \"Zinc_Foil_Shiny_Wrinkled\", \"Elegant_Blue_Metallic\", \"Polyethylene_Cloudy_Soft\", \"Aniline_Leather_Black\"], \"pads\": {\"1\": [-0.19139, 0.47903], \"2\": [-0.19139, 0.32903], \"3\": [-0.19139, 0.17903]}, \"pick_xy\": [-0.19139, 0.32903], \"spawn\": [-0.50665, 0.2444, 0.29282], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8924958387731848, 0.0010076023587551695, -0.0018290179419166116, -0.451050792265577], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961056\", \"dr_level\": 2, \"level_seed\": 48961065, \"level_table_material\": \"Gold_Polished\", \"level_table_material_tries\": [\"Aluminum_Foil_Matte_Wrinkled\", \"castor_brown\", \"Blue_Saphire\", \"Glass_Optical_BAK\", \"plastic_light_blue\", \"Fiberglass_Flat_Weave\", \"Spongy_Concrete_Weathered_Wet_Flows\", \"Iron_Brushed\", \"Fabric_Carpet_Long_Floor_Orange\", \"Water_Pool_Clear_Blue\", \"ABS_Hard_Leather_Vintage_Rose\", \"Nickel_Sheet_Matte_Imperfections\", \"Bright_Silver_Metallic\", \"Wood_Tiles_Poplar_Mosaic\", \"Bronze_Brushed_Yellow_Medium\", \"Pigmented_Smooth_Leather_Light_Blue\", \"Pull_Up_Leather_Light_Brown\", \"Polycarbonate_Yellow\", \"Polypropylene_Opaque\", \"Brass_Polished_Gold_Shiny_Worn\", \"Gold_Polished\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Aniline_Leather_Black\", \"source_episode_index\": 24}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7612280403690778, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.690443992614746, 0.37881991267204285, 0.012000000104308128], \"quaternion\": [0.3572853792848434, 0.3572853792848434, 0.6102025546892488, 0.6102025546892488]}, \"12\": {\"position\": [-0.3711613118648529, 0.013964815996587276, 0.03657222166657448], \"quaternion\": [0.6152015358867873, 0.00013214218734840675, -0.002084012377013389, -0.7883671160527898]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Aniline_Leather.mdl\", \"name\": \"Aniline_Leather_Black\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1877542771355944, -0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1877542771355944, -0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.1877542771355944, 0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.1877542771355944, 0.7771260334579697, 0.0]}, \"light_radius\": 0.11009052088020191, \"light_length\": 1.767818185552987, \"light_intensity\": 50000.0, \"light_color_temperature\": 7905.410853318047, \"center_light_postion\": [-0.4785206949508526, -0.8164485406518256, 1.3882708243578923], \"center_light_orientation\": [0.941454489540972, 0.0, 0.0, -0.3371400956919065]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Aniline_Leather.mdl\", \"name\": \"Aniline_Leather_Black\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Tungsten_Sheet.mdl\", \"name\": \"Tungsten_Sheet_Matte_Imperfections\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.677259892436191, \"metallic_constant\": 0.40869312462181917, \"specular_level\": 0.3384608741600288}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.21972478445096466, \"metallic_constant\": 0.2771644414802542, \"specular_level\": 0.5398560182009898}, {\"reflection_roughness_constant\": 0.4612247534754794, \"metallic_constant\": 0.5937357592279348, \"specular_level\": 0.7764450648985595}]}}}"}
{"episode_index": 85, "tasks": [0], "length": 1, "dataset_from_index": 85, "dataset_to_index": 85, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961127, \"answer\": \"3\", \"appearance_seed\": 10961127, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Carpet_Woven_Orange\", \"table_material_tries\": [\"Copper_Foil_Shiny_Wrinkled\", \"Carpet_Woven_Orange\"], \"pads\": {\"1\": [-0.15679, 0.52376], \"2\": [-0.15679, 0.37376], \"3\": [-0.15679, 0.22376]}, \"pick_xy\": [-0.15679, 0.37376], \"spawn\": [-0.46536, 0.32662, 0.18488], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8668645075897851, 0.000907469426281548, -0.0018807095431209195, -0.49853943165207576], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961127\", \"dr_level\": 2, \"level_seed\": 14961136, \"level_table_material\": \"Paint_Eggshell_Pale_Rose\", \"level_table_material_tries\": [\"Chalk_Paint_Summernight\", \"Paint_Eggshell_Pale_Rose\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Carpet_Woven_Orange\", \"source_episode_index\": 25}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7062101306017652, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6544036865234375, 0.41197821497917175, 0.012000000104308128], \"quaternion\": [0.6774388977216772, 0.6774388977216769, -0.20267348088400639, -0.20267348088400627]}, \"12\": {\"position\": [-0.3511712849140167, -0.023682719096541405, 0.03657222166657448], \"quaternion\": [0.562116100729473, -4.96326030917332e-06, -0.002088191684513241, -0.8270556986875478]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Carpet/Carpet_Woven.mdl\", \"name\": \"Carpet_Woven_Orange\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6829258241645082, -0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6829258241645082, -0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.6829258241645082, 0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.6829258241645082, 0.5203888082819949, 0.0]}, \"light_radius\": 0.11324619931558895, \"light_length\": 1.812288003659074, \"light_intensity\": 50000.0, \"light_color_temperature\": 6193.440227089237, \"center_light_postion\": [0.11429952514177577, -0.7870525566924251, 1.4212249702890116], \"center_light_orientation\": [0.7593242664671527, 0.0, 0.0, -0.6507124236973816]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Carpet/Carpet_Woven.mdl\", \"name\": \"Carpet_Woven_Orange\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square_Brick.mdl\", \"name\": \"Ceramic_Tiles_Square_Brick_Dark_Green_New\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.039370182548667865, \"metallic_constant\": 0.06840839528917864, \"specular_level\": 0.8963038434920273}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3673208749980392, \"metallic_constant\": 0.8923045690096745, \"specular_level\": 0.09368526536004251}, {\"reflection_roughness_constant\": 0.7826865931443162, \"metallic_constant\": 0.18265987137446482, \"specular_level\": 0.6357969286170526}]}}}"}
{"episode_index": 86, "tasks": [0], "length": 1, "dataset_from_index": 86, "dataset_to_index": 86, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961542, \"answer\": \"3\", \"appearance_seed\": 14961542, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Mulch_Wet\", \"table_material_tries\": [\"Water_Murky_Perlinwaves_Clear_Broth\", \"Chameleon_Pigment_Desert_Fire\", \"Polycarbonate_Clear\", \"Copper_Antique_Brushed_Shiny\", \"Polycarbonate_Cloudy\", \"Mulch_Wet\"], \"pads\": {\"1\": [-0.17728, 0.47574], \"2\": [-0.17728, 0.32574], \"3\": [-0.17728, 0.17574]}, \"pick_xy\": [-0.17728, 0.32574], \"spawn\": [-0.48606, 0.30568, 0.12354], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.851170368180389, 0.0008493752186237519, -0.0019076506187480223, -0.5248853624959608], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961542\", \"dr_level\": 2, \"level_seed\": 19961551, \"level_table_material\": \"Tungsten_Scratched_Dark_Shiny\", \"level_table_material_tries\": [\"Paint_Eggshell\", \"Glass_Clear_Light_Mixed_Dirt\", \"Tungsten_Scratched_Dark_Shiny\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Mulch_Wet\", \"source_episode_index\": 26}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7209013506446025, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.668771266937256, 0.4018065929412842, 0.012000000104308128], \"quaternion\": [0.6668402839751588, 0.666840283975159, -0.23521061980261282, -0.23521061980261296]}, \"12\": {\"position\": [-0.3709602653980255, 0.055701322853565216, 0.03657222166657448], \"quaternion\": [0.6501585732354718, 0.00022607226514512917, -0.0020759240053902506, -0.7597956758756071]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Ground/Mulch.mdl\", \"name\": \"Mulch_Wet\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2753068560385845, -0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2753068560385845, -0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2753068560385845, 0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2753068560385845, 0.8993888388547615, 0.0]}, \"light_radius\": 0.08162156537615757, \"light_length\": 1.0630121370688999, \"light_intensity\": 50000.0, \"light_color_temperature\": 7081.415281519595, \"center_light_postion\": [-0.11637931377299449, -1.0734692333218545, 1.3991373709912664], \"center_light_orientation\": [0.9488640773810335, 0.0, 0.0, 0.31568491040250884]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Ground/Mulch.mdl\", \"name\": \"Mulch_Wet\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Ground/Ground_Hard_Court.mdl\", \"name\": \"Ground_Hard_Court_Light_Green\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.5103772014141328, \"metallic_constant\": 0.3803370349388916, \"specular_level\": 0.724728636055534}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.09059090524617097, \"metallic_constant\": 0.18349277974461964, \"specular_level\": 0.5163832679986111}, {\"reflection_roughness_constant\": 0.5618596797344061, \"metallic_constant\": 0.11327481026481623, \"specular_level\": 0.25025311831240216}]}}}"}
{"episode_index": 87, "tasks": [0], "length": 1, "dataset_from_index": 87, "dataset_to_index": 87, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961546, \"answer\": \"3\", \"appearance_seed\": 10961546, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Solder_Paste\", \"table_material_tries\": [\"Copper_Antique_Brushed_Medium_Patina\", \"Solder_Paste\"], \"pads\": {\"1\": [-0.17023, 0.60173], \"2\": [-0.17023, 0.45173], \"3\": [-0.17023, 0.30173]}, \"pick_xy\": [-0.17023, 0.45173], \"spawn\": [-0.48141, 0.38931, 0.21132], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.873380007649985, 0.0009322552619664627, -0.0018685473694176717, -0.4870349080591322], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961546\", \"dr_level\": 2, \"level_seed\": 15961555, \"level_table_material\": \"Terrazzo_Freckled_Highlights\", \"level_table_material_tries\": [\"Glass_Clear_Heavy_Dirt_Dust\", \"Chalk_Paint_Black_Bean\", \"Terrazzo_Freckled_Highlights\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Solder_Paste\", \"source_episode_index\": 27}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7277164434856593, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.6186842918395996, 0.4044467806816101, 0.012000000104308128], \"quaternion\": [0.47470650465628234, 0.47470650465628195, 0.5240741688320607, 0.5240741688320606]}, \"12\": {\"position\": [-0.3516843914985657, 0.05788710340857506, 0.03657222166657448], \"quaternion\": [0.606931740040262, 0.00011036289957040559, -0.0020852791601175813, -0.7947512204221866]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2951751722169105, -0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2951751722169105, -0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-2.2951751722169105, 0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.2951751722169105, 0.7216100294212326, 0.0]}, \"light_radius\": 0.11370905086566192, \"light_length\": 1.9790491942105195, \"light_intensity\": 50000.0, \"light_color_temperature\": 6755.527027650697, \"center_light_postion\": [0.7205770326009364, 0.3578436765772772, 1.4432759861081554], \"center_light_orientation\": [0.9813631507428363, 0.0, 0.0, -0.19216234377237681]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Solder_Paste.mdl\", \"name\": \"Solder_Paste\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl\", \"name\": \"White_to_Gold\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.923741811542156, \"metallic_constant\": 0.43172747496505515, \"specular_level\": 0.32505479369745216}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.22465924477056032, \"metallic_constant\": 0.8506565924459691, \"specular_level\": 0.6821403828551383}, {\"reflection_roughness_constant\": 0.6013923761886713, \"metallic_constant\": 0.11768848361163553, \"specular_level\": 0.6795502240088827}]}}}"}
{"episode_index": 88, "tasks": [0], "length": 1, "dataset_from_index": 88, "dataset_to_index": 88, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961578, \"answer\": \"3\", \"appearance_seed\": 17961578, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Semi_Aniline_Leather\", \"table_material_tries\": [\"Fabric_Cotton_Pique_Weave_Green_Ash\", \"Spongy_Concrete_Weathered_Mossy_Rough\", \"Ground_Hard_Court_Blue\", \"Fabric_Cotton_Pique_Weave_French_Blue\", \"ABS_Spotty_Woven_Leather_Brown\", \"Silver_Hammered_Dull\", \"Copper_Antique_Brushed_Worn_Matte\", \"Bronze_Brushed_Yellow_Strong\", \"Semi_Aniline_Leather\"], \"pads\": {\"1\": [-0.16754, 0.49871], \"2\": [-0.16754, 0.34871], \"3\": [-0.16754, 0.19871]}, \"pick_xy\": [-0.16754, 0.34871], \"spawn\": [-0.48601, 0.3426, 0.10218], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8455150639524535, 0.0008289495359978827, -0.0019166146748866226, -0.5339474843655825], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.47, \"decoy_start_y\": 0.33, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961578\", \"dr_level\": 2, \"level_seed\": 34961587, \"level_table_material\": \"Wood_Tiles_Pine_Herringbone\", \"level_table_material_tries\": [\"Brass_Scratched_Red_Heavy_Worn_Scratches\", \"Silver_Scratched_Dark_Matte\", \"Chalk_Paint_Black_Bean\", \"Zinc_Scratched_Dark_Matte\", \"Pink_Glamour_Metallic\", \"Paint_Eggshell_Leaf\", \"Iron_Scratched_Light_Bumpy\", \"Iron_Scratched_Dark_Shiny\", \"Spongy_Concrete_Weathered_Mossy_Rough\", \"Ground_Aggregate_Exposed\", \"Chalk_Paint_Charcoal_Blue\", \"Chalk_Paint_Charcoal_Blue\", \"Plaster_Wall_Weathered\", \"Bronze_Foil_Shiny_Wrinkled\", \"Wood_Tiles_Pine_Herringbone\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Semi_Aniline_Leather\", \"source_episode_index\": 28}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7163390716514075, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.644564390182495, 0.41300517320632935, 0.012000000104308128], \"quaternion\": [0.7028463158539374, 0.7028463158539373, -0.07750520169993225, -0.07750520169993215]}, \"12\": {\"position\": [-0.3812190294265747, -0.014366233721375465, 0.03657222166657448], \"quaternion\": [0.6141200962495645, 0.00012928485540639355, -0.0020841915870152272, -0.7892098243263831]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Leather/Semi_Aniline_Leather.mdl\", \"name\": \"Semi_Aniline_Leather\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.135488979927093, -1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.135488979927093, -1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.135488979927093, 1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.135488979927093, 1.12907240722007, 0.0]}, \"light_radius\": 0.08738100091470981, \"light_length\": 1.273850088927266, \"light_intensity\": 50000.0, \"light_color_temperature\": 7410.509300543357, \"center_light_postion\": [0.578702591235561, 0.25437062548529, 1.3242289522242645], \"center_light_orientation\": [0.7390980423921657, 0.0, 0.0, -0.6735978649996365]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Leather/Semi_Aniline_Leather.mdl\", \"name\": \"Semi_Aniline_Leather\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Metal/Metal_Cast.mdl\", \"name\": \"Aluminum_Cast_Shiny\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.1474815061159065, \"metallic_constant\": 0.05189753007291875, \"specular_level\": 0.8217911230476005}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.3316126901337684, \"metallic_constant\": 0.4363303483320443, \"specular_level\": 0.5752318413668378}, {\"reflection_roughness_constant\": 0.9425074020974694, \"metallic_constant\": 0.6701474651395142, \"specular_level\": 0.23742042429303922}]}}}"}
{"episode_index": 89, "tasks": [0], "length": 1, "dataset_from_index": 89, "dataset_to_index": 89, "robot_type": "g1", "instruction": {"task_index": 0, "task": "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."}, "environment_config": "{\"rmlm\": {\"lm_task\": \"hidemug2t\", \"task_id\": \"rmlm-hidemug2t-001\", \"seed\": 9961674, \"answer\": \"3\", \"appearance_seed\": 19961674, \"variant\": \"v39hm\", \"appearance_from\": \"renderer draw rule\", \"table_material\": \"Titanium_Sheet_Glossy_Streaks\", \"table_material_tries\": [\"Silk_Crepe_de_Chine_Natural\", \"Tungsten_Brushed_Medium_Light_Brushing\", \"Chromium\", \"Chalk_Paint_Summernight\", \"Woven_Metal_02_Steel_Pure\", \"Solder_Paste_Bumpy\", \"Brass_Antique\", \"Iron_Sheet\", \"Tungsten_Sheet_Soft_Splotches\", \"Dark_Gray_Metallic\", \"Titanium_Sheet_Glossy_Streaks\"], \"pads\": {\"1\": [-0.15369, 0.53331], \"2\": [-0.15369, 0.38331], \"3\": [-0.15369, 0.23331]}, \"pick_xy\": [-0.15369, 0.38331], \"spawn\": [-0.45482, 0.33102, 0.20514], \"pick_object\": \"graspnet1b:57\", \"pick_quat\": [0.8718706454181708, 0.0009264760262943902, -0.0018714195996418375, -0.4897317807626512], \"cue_names\": [\"screen_1\", \"screen_2\", \"screen_3\", \"mug\", \"decoy\"], \"hidemug\": {\"mug_start_y\": 0.33, \"decoy_start_y\": 0.47, \"mz\": 0.03990936168085146, \"mq\": [0.7072112580667878, 0.0005029374957509934, -0.0013276202573894685, 0.7070008634661762]}, \"options\": {\"max_offset\": 0.065, \"lift_trigger_m\": 0.03, \"cue_delay_min\": 25, \"cue_delay_max\": 25, \"hold_delay\": 150, \"pad_dy\": 0.15}, \"level\": \"L2\", \"source_episode\": \"hidemug2t-a3-s9961674\", \"dr_level\": 2, \"level_seed\": 28961683, \"level_table_material\": \"Pull_Up_Leather_Red_Wine\", \"level_table_material_tries\": [\"Stone_Mediterranean_Matte\", \"Fabric_Cotton_Pique_Weave_Inkwell\", \"Woven_Metal_03_Steel_Polished\", \"ABS_Velvety_Woven_Leather_Brown\", \"Polyester_Charmeuse_Orange\", \"Wood_Tiles_Pine_Brickbond\", \"Pull_Up_Leather_Red_Wine\"], \"level_factor_equal_to_reference\": {\"camera\": true, \"container\": true, \"distractors\": true, \"language\": true, \"lighting\": false, \"material\": false, \"scene\": false, \"spatial\": false, \"target\": true}, \"reference_table_material\": \"Titanium_Sheet_Glossy_Streaks\", \"source_episode_index\": 29}, \"dr_state_dict\": {\"language\": \"pick the object from table1, locomote to table2, and place it on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {}, \"spatial\": {\"g1_wholebody\": {\"position\": [-0.7637755555620996, 0.0, -0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [-2.621424913406372, 0.4437377452850342, 0.012000000104308128], \"quaternion\": [0.5910345375363708, 0.5910345375363708, 0.38817286798431505, 0.388172867984315]}, \"12\": {\"position\": [-0.3555878698825836, 0.06622111797332764, 0.03657222166657448], \"quaternion\": [0.6229436875946267, 0.0001526808179191278, -0.0020826083916717364, -0.7822638950615469]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene6\", \"conf\": {\"uid\": \"scene6\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344022\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, 75], \"center_orientation_limit_down\": [90, 0, 105], \"table_size\": [0.79, 1.99, 0.91466378], \"table2_size\": [1.0, 2.39, 0.7], \"table2_position\": [-2.94, 0.0, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/af102d5ce3df9cc58b991eb618a86f66c5901efe\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/eeaf34edd2065a3fa2af3fc021cd343ca029f696\"}}, \"name\": \"102344022\", \"data_dir\": \"scenes/hssd/102344022\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 90.0], \"table\": {\"uid\": \"box\", \"size\": [0.79, 1.99, 0.1], \"pose\": {\"position\": [0.0, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Glossy_Streaks\"}}, \"table2\": {\"uid\": \"box\", \"size\": [1.0, 2.39, 0.1], \"pose\": {\"position\": [-2.94, 0.0, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}}}, \"lighting\": {\"Light_0_0\": {\"uid\": \"Light_0_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3646164953928306, -0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}, \"Light_0_1\": {\"uid\": \"Light_0_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, -0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}, \"Light_0_2\": {\"uid\": \"Light_0_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3646164953928306, -0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}, \"Light_1_0\": {\"uid\": \"Light_1_0\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [-1.3646164953928306, 0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}, \"Light_1_1\": {\"uid\": \"Light_1_1\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [0.0, 0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [1.3646164953928306, 0.97654403236095, 0.0]}, \"light_radius\": 0.10080369446388698, \"light_length\": 1.7924312721978368, \"light_intensity\": 50000.0, \"light_color_temperature\": 7455.990593882594, \"center_light_postion\": [0.43225034528798867, -0.3662428768274478, 1.4107957413620433], \"center_light_orientation\": [0.9686055848042431, 0.0, 0.0, 0.24860253636282606]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Metal/Titanium_Sheet.mdl\", \"name\": \"Titanium_Sheet_Glossy_Streaks\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Stone/Stone_Mediterranean.mdl\", \"name\": \"Stone_Mediterranean_Warm_Shiny\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.9947158925841342, \"metallic_constant\": 0.773868209640517, \"specular_level\": 0.23259151011115664}, \"object_shader_params\": [{\"reflection_roughness_constant\": 0.9453587346001673, \"metallic_constant\": 0.15746727131827531, \"specular_level\": 0.3566755436660739}, {\"reflection_roughness_constant\": 0.8631360026294684, \"metallic_constant\": 0.21902194112633666, \"specular_level\": 0.624277054728546}]}}}"}