diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000006/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8477ddebe6e8dab862e9898e0c7740c46a7cc486 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.33036609999999994, + 0.28539175, + 0.1706630595 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket052/model.xml" + }, + "reset_region": { + "size": [ + 0.5000000000000009, + 0.65 + ], + "offset": [ + 0.7499999999999996, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8022024193601497, + 0.9350000000000002 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "ketchup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_1_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8002086506189847, + -0.9119336710428863, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000017/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd937470eb2f5bcbbc6fb4ab941db7702e0eee10 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.1100000000000003, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_7/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_4/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5593979813181047, + -1.237413645435863, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000042/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7869f774d2ddfd6fcd3242d255601e20bf5348f5 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "syrup_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "syrup_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.578737392642785, + -1.0999431158183486, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000067/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6909195d28ef7fa99d4c3866285cff9c15236820 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + 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{ + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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{ + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_front_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.765, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "shelves_front_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.7649999999999996, + 0.65 + ], + "offset": [ + -0.011250000000000204, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_5/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + 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}, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_front_group", + "counter": "counter_1_front_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0213041490820873, + -2.6123980161194127, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000089/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..736f693c551afea3548faa8451fa75eb51f035aa --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.33036609999999994, + 0.28539175, + 0.1706630595 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket052/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun010/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_6/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_2_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8096176307950451, + -2.2069787868919213, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000112/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000112/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..440b40f5df419bcfc48a61a7fa55f949f44d31d9 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000112/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_front_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.765, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "shelves_front_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.7649999999999996, + 0.65 + ], + "offset": [ + -0.011250000000000204, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_5/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag012/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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"Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_front_group", + "counter": "counter_1_front_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7938834889443628, + -2.601637159279219, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000119/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000119/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fcffa59bea69ad193442f32e2bad63edcc3c840f --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000119/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 1.5, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "shelves_left_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.5, + 0.65 + ], + "offset": [ + -0.25, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "syrup_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "syrup_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle006/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "oven_tray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray008/model.xml" + }, + "reset_region": { + "size": [ + 0.8022024193601497, + 0.9350000000000002 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_left_group", + "counter": "counter_1_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7644577440339555, + -2.0328154166370265, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000124/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000124/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..223993da48d8b2f0da8b95042c071455dde60cf0 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000124/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.48000000000000065, + 0.65 + ], + "offset": [ + -0.7549999999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pickle_slice" + ], + "groups": [ + "all" + ], + "cat": "pickle_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice011/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall012/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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+ { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_7/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_8/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" 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"cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0974127414424784, + -0.8141698195190321, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000153/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000153/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a93f4637bf50d09c2b62ab030e7e456a99e6bf00 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000153/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.48000000000000065, + 0.65 + ], + "offset": [ + -0.7549999999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_7/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.062717436079426, + -1.0113007212935277, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000160/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000160/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6395cebeba1c8df575b6d18a53e363ecd34f3d9 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000160/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.5000000000000004, + 0.65 + ], + "offset": [ + 1.25, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_9/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + 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"dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_1_left_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8327668382852136, + -1.0519258641425653, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000161/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000161/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3af5ac7e3c79e9aa4f2c7e68535a7b0eda1fc960 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000161/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 1.0, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "shelves_right_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.020000000000001, + 0.65 + ], + "offset": [ + 0.4500000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher016/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.558213524667465, + -2.2518717299565463, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000174/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000174/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f229b738a0cf489b8a2b2045258ef9db357bdf76 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000174/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.48000000000000065, + 0.65 + ], + "offset": [ + -0.7549999999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_8/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.061307510819855, + -1.0146696219825342, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000191/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000191/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..543cd2b66992a415223955c35a3cc7b9cb2d3d7b --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000191/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.3069758, + 0.3397076, + 0.1000849755 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket050/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.625659703161658, + -0.8425600282745783, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000201/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000201/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f007eebec72b2feeeeb03fe3b6f95a25e3f8b66c --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000201/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_4/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray005/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.296905266408751, + -0.8386153155475303, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000202/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000202/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..760c2f282c7f20aff9080222c73f032e68073b82 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000202/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "receptacle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar025/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_6/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7698576929678909, + -0.8223976542831871, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000204/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000204/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c00cc52cebde4f99397c8bba384d17ab64958b7b --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000204/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.5000000000000009, + 0.65 + ], + "offset": [ + 0.7499999999999996, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_1_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8159569088467284, + -0.9757803390326776, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000211/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000211/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb75108497ce8eedd066768ae5fbecc833e7e6e6 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000211/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick012/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.062972597486235, + -0.8364470500940222, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000212/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000212/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..daf5f09996b1337c3182f92ae643718e7095b510 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000212/ep_meta.json @@ -0,0 +1,606 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot065/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese_grater", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cheese_grater", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater012/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_left_group", + "counter": "counter_1_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7599312356050336, + -1.6229758063853246, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000222/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000222/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c78c9b30463ec6ebb5d2f452be4b90730a1de054 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000222/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "digital_scale", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "digital_scale", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale011/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_6/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2715158002348803, + -0.8243450973482667, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000245/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000245/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d865a0a64c5d57443835866fd54b3d2518fcc8c --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000245/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.5500000000000003, + 0.65 + ], + "offset": [ + 1.2249999999999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle020/model.xml" + }, + "reset_region": { + "size": [ + 0.8022024193601497, + 0.9350000000000002 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "wine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_6/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.291220702890612, + -0.808906881630071, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000248/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000248/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c26f9ca39726bde162a3c707dde05180de6689aa --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000248/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_front_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.765, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "shelves_front_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.7649999999999996, + 0.65 + ], + "offset": [ + -0.011250000000000204, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_5/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher014/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_front_group", + "counter": "counter_1_front_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9758297145471506, + -2.5597552951164055, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000289/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000289/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b4292683b263c4676c04e8a419454e173785b1 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000289/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.33036609999999994, + 0.28539175, + 0.1706630595 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket052/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "garlic", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "ketchup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": 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"cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.3069758, + 0.3397076, + 0.1000849755 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket050/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_8/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + 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"fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, 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"obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chocolate", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "chocolate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "wine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_4/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_2_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8486636230771023, + -2.171922067145307, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000314/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000314/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8dee3ed3ef5acb7bb891d054e116e3c9d3ff11a5 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000314/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sugar_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube005/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + 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"island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6493954054623026, + -0.8449104444872783, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000324/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000324/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7331572566d0eaea58df375b742f7bd27b6e438 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000324/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "side_bottom_right_group_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + -0.3925000000359999 + ], + "size": [ + 0.94, + 0.71 + ], + "height": 0.3775000000359999, + "name": "level1" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "side_bottom_right_group_3", + "min_size": [ + 0.3069758, + 0.3397076, + 0.1000849755 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket050/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_5/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar024/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": 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"cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "side_bottom_right_group_3", + "counter": "counter_1_front_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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+ "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "shelves_main_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.8349216362207781, + 0.65 + ], + "offset": [ + 0.5, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_6/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.695282329248977, + -0.8170951236284112, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000331/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000331/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a76572a6760b7c8a21d25fe719b2e42724880744 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000331/ep_meta.json @@ -0,0 +1,679 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 1.5, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "shelves_left_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.5, + 0.65 + ], + "offset": [ + -0.25, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika011/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_left_group", + "counter": "counter_1_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8174591684349504, + -2.0289623386205933, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000333/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000333/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb3e502411d727f2d200e127cfb6b95099ef130 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000333/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese_grater", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cheese_grater", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater009/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard011/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.236210996564751, + -0.7776897166821192, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000335/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000335/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20d45d4ba3f9fe0afe53c8d76171a852384e9215 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000335/ep_meta.json @@ -0,0 +1,677 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.40000000000000013, + 0.65 + ], + "offset": [ + -0.7999999999999999, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "placemat", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "placemat", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat025/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": 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"Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_1_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9314033306038652, + -0.7986480363094268, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000344/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000344/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae36293525feb273291184af82c7207097d5f94 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000344/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.1100000000000003, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup012/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6051374976001878, + -1.2964823858399888, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000345/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000345/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d618759f6b2d57b1e524e4eeea762dac8ee162f6 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000345/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.33036609999999994, + 0.28539175, + 0.1706630595 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket052/model.xml" + }, + "reset_region": { + "size": [ + 1.1100000000000003, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick011/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.631300364463694, + -1.2371588736497485, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000363/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000363/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd9fa4c8a0551420621bbaf736fe251d2aedac72 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000363/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.33036609999999994, + 0.28539175, + 0.1706630595 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket052/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.592578036458923, + -2.2029302634882373, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000370/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000370/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df4890c8116e453e24617e6d872dc6a76db6f845 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000370/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0419549023863397, + -0.8498986461149447, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000379/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000379/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16a2006ce129dcbf557ed1e86343849933fc95bd --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000379/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 1.5, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "shelves_left_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.5, + 0.65 + ], + "offset": [ + -0.25, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8022024193601497, + 0.9350000000000002 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk006/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_left_group", + "counter": "counter_1_left_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7620512481239545, + -1.803700255739892, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000381/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000381/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f85dec65de6c8c1e49d7de97d6945a713f25cf6a --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000381/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.3069758, + 0.3397076, + 0.1000849755 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket050/model.xml" + }, + "reset_region": { + "size": [ + 0.5500000000000003, + 0.65 + ], + "offset": [ + 1.2249999999999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_9/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_6/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.47583387910972, + -0.8090945338695053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000386/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000386/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b42ad0e9b34a8d8566984ecc4137809cffd35d2 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000386/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "shelves_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 1.0, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "shelves_main_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagged_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bagged_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_7/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "shelves_main_group", + "counter": "counter_1_right_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1667932266375907, + -0.7913937959481028, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000391/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000391/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0d3c8d4e8c37fda05c2b9656ad90bc450aceb9e --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000391/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_8/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + 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"microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, 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+ "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter006/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6835999813128029, + 0.8450000000000001 + ], + "offset": [ + 0.0, + 0.27749999999999986, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7160694800130456, + -0.7738185984715266, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000402/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000402/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..767dc8978a59fc8f96aeed0413f077c5df76eee4 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000402/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml" + }, + "reset_region": { + "size": [ + 2.55, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_left_group", + "counter": "counter_1_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8120177495609858, + -1.6177971786705372, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000409/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000409/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf3f1999765fb0cbdc450f020c9a242f3e75089 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000409/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.600525892505419, + -1.3442485832232212, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000425/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000425/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..615135694e0cbddb801b795a027025c82dda85f2 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000425/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.48000000000000065, + 0.65 + ], + "offset": [ + -0.7549999999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter005/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_8/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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[ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket048/model.xml" + }, + "reset_region": { + "size": [ + 0.48000000000000065, + 0.65 + ], + "offset": [ + -0.7549999999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_dining_area_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer004/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group", + "dining_table": "counter_1_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.13319289944588, + -1.0684451465786342, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000474/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000474/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e2105ab7773519c29dee161b5b30a8ca2669376 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000474/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "teapot", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "teapot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_5/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag012/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_2_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.31727524999999995, + 0.24426619999999996, + 0.17071983949999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket051/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice009/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + }, + "reset_region": { + "size": [ + 1.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "counter": "counter_2_left_group", + "dining_table": "counter_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.26606615, + 0.23461529999999997, + 0.17048914099999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spatula", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spatula", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. Then move the basket to the dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.601945742605465, + -1.1157319939601669, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000494/ep_meta.json b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000494/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f57bdaf18c7f6b8ef2bb64ff52b07ef40b7ff410 --- /dev/null +++ b/target/composite/ArrangeBreadBasket/20250809/lerobot/extras/episode_000494/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "bread", + "obj_groups": "bread", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "basket", + "obj_groups": "basket", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.25763415, + 0.21243965, + 0.17071649049999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "basket" + ], + "cat": "basket", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket049/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_2/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining2", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "size": [ + 1, + 0.3 + ], + "pos": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_5/model.xml" + }, + "reset_region": { + "size": [ + 2.45, + 1.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet, pick up the bread from the cabinet and place it in the basket. 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