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}, + "gen_textures": {}, + "lang": "Open the cabinet directly in front. 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"HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet directly in front. Then move the liquor and the mug to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_island_group", + "cab": "cab_1_main_group_1", + "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": [ 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"object_cfgs": [ + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "cup", + "obj_groups": [ + "cup", + "mug" + ], + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "cup", + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "decoration", + "obj_groups": "decoration", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "decoration" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar010/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet directly in front. Then move the beer and the mug to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cab": "cab_4_main_group", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + 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Then move the beer and the cup to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "cab": "cab_2_main_group", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8169319655121223, + -0.8472925204955585, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..274ed7b5f4868c2e2dbfc4059fbd2842ff219d37 --- /dev/null +++ b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 15, + "style_id": 17, + "object_cfgs": [ + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "cup", + "obj_groups": [ + "cup", + "mug" + ], + "graspable": true, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "cup", + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "decoration", + "obj_groups": "decoration", + "placement": { + "fixture": "island_island_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "decoration" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar012/model.xml" + }, + "reset_region": { + "size": [ + 0.6172954076173546, + 0.8550000000000001 + ], + "offset": [ + -0.05118, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "distr_counter", + "obj_groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "placement": { + "fixture": "island_island_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + }, + "reset_region": { + "size": [ + 0.6172954076173546, + 0.8550000000000001 + ], + "offset": [ + -0.05118, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": 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"cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": 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}, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": 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Then move the wine and the mug to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_island_group", + "cab": "cab_1_front_group_1", + "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": [ + 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"Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet directly in front. Then move the liquor and the mug to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cab": "hingecabinet_2_main_group_1", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 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Then move the beer and the mug to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "cab": "cab_2_main_group", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + 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Then move the beer and the mug to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cab": "hingecabinet_9_right_group_1", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], 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+ "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "decoration", + "obj_groups": "decoration", + "placement": { + "fixture": "island_island_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "decoration" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "size": [ + 1.3390875477734425, + 1.8 + ], + "offset": [ + 1.152956226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "distr_counter", + "obj_groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "placement": { + "fixture": "island_island_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 0.966824904453115, + 1.0709500000000003 + ], + "offset": [ + 0.0, + 0.3645250000000001, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + 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+ "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + 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"cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": 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Then move the wine and the mug to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_island_group", + "cab": "cab_6_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": [ + 3.519275181175032, + -0.803488420052294, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..213742ddeacaa54cf2e9c36299d08d6f0aa848c4 --- /dev/null +++ b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,624 @@ +{ + "layout_id": 23, + "style_id": 18, + "object_cfgs": [ + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "cup", + "obj_groups": [ + "cup", + "mug" + ], + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0.6, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup", + "mug" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "decoration", + "obj_groups": "decoration", + "placement": { + "fixture": "island_2_island_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "decoration" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar007/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "placement": { + "fixture": 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+ "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet directly in front. Then move the wine and the mug to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_right_group", + "cab": "cab_4_left_group", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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in front. Then move the liquor and the cup to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_island_group", + "cab": "cab_1_front_group_1", + "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": [ + 1.9284645395401605, + -5.648671453900071, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6495824a4e6e52429a201c803fa529e37bea3a --- /dev/null +++ b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 22, + "style_id": 11, + 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"placement": { + "fixture": "dining_dining_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "sweets", + "dairy" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_left_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + 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Then move the liquor and the cup to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_left_group", + "cab": "cab_1_main_group", + "dining_table": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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Then move the wine and the mug to the dining counter with the candle on it.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cab": "hingecabinet_1_main_group_1", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], 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Then move the beer and the cup to the dining counter with the jar on it.", + "fixture_refs": { + "sink": "sink_1_main_group", + "cab": "cab_3_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": [ + 0.7592059819016307, + -0.9275212141068989, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1af8e81d5f7d1d52bcdedc3a44bc411f00f28877 --- /dev/null +++ b/pretrain/composite/AlcoholServingPrep/20250724/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 27, + "style_id": 46, + 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Then move the beer and the mug to the dining counter with the jar on it."} +{"task_index": 1, "task": "Open the cabinet directly in front. Then move the liquor and the mug to the dining counter with the jar on it."} +{"task_index": 2, "task": "Open the cabinet directly in front. Then move the wine and the mug to the dining counter with the candle on it."} +{"task_index": 3, "task": "Open the cabinet directly in front. Then move the liquor and the mug to the dining counter with the candle on it."} +{"task_index": 4, "task": "Open the cabinet directly in front. Then move the wine and the cup to the dining counter with the candle on it."} +{"task_index": 5, "task": "Open the cabinet directly in front. Then move the liquor and the cup to the dining counter with the candle on it."} +{"task_index": 6, "task": "Open the cabinet directly in front. Then move the liquor and the cup to the dining counter with the jar on it."} +{"task_index": 7, "task": "Open the cabinet directly in front. Then move the beer and the cup to the dining counter with the candle on it."} +{"task_index": 8, "task": "Open the cabinet directly in front. Then move the wine and the mug to the dining counter with the jar on it."} +{"task_index": 9, "task": "Open the cabinet directly in front. Then move the beer and the mug to the dining counter with the candle on it."} +{"task_index": 10, "task": "Open the cabinet directly in front. Then move the wine and the cup to the dining counter with the jar on it."} +{"task_index": 11, "task": "Open the cabinet directly in front. Then move the beer and the cup to the dining counter with the jar on it."} +{"task_index": 12, "task": "AlcoholServingPrep"} diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea56e3a1a08e75ca5354765430a2b39125a9c96d --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 28, + "style_id": 51, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.05318319076000001, + 0.09707054252000001, + 0.07255429020000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.616325983455897, + -0.761360205165323, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46f8f4f469294748cbf8430960450314b8741edd --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 46, + "style_id": 20, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.08981192969358237, + 0.08638954750156216, + 0.04186496209999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0009310570769007487, + 0.010666487422513526, + -0.015794100038419925 + ], + "size": [ + 0.3449271974490115, + 0.25594109085517064 + ], + "height": 0.08725924431399336, + "name": "rack1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.41824551924499564, + 0.65 + ], + "offset": [ + -0.2907307403775022, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12122598479999995, + 0.12122598479999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bagel", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_5/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.353349749723642, + -0.9077291360580017, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e01c87db85b7416a754590de78de64c2934668a3 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 55, + "style_id": 28, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.05342825208000001, + 0.10014700094, + 0.10000841545 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml" + }, + "reset_region": { + "offset": [ + -0.03996059954420106, + 0.00656435181960386, + 0.002935658365034531 + ], + "size": [ + 0.3501100986691406, + 0.22200056033698057 + ], + "height": 0.1354467064243426, + "name": "rack1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.49785154982013946, + 0.65 + ], + "offset": [ + 0.28722472508993024, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.13999996639999995, + 0.13999996639999995 + ], + "ensure_object_boundary_in_range": false, + 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+ { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08981192969358237, + 0.08638954750156216, + 0.04186496209999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.027933296616445738, + 0.026364201721092342, + 0.013801863155141054 + ], + "size": [ + 0.33196963167962246, + 0.24031436149924065 + ], + "height": 0.08386938622447479, + "name": "rack0" + } + }, + { + "name": "bowl", + 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.271124132249439, + -3.7711229222646185, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d45e3db127b26cc3a2cb03d86a079907869278f2 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 55, + "style_id": 52, + 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"obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.47699786245816306, + 0.65 + ], + "offset": [ + 0.2976515687709185, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.13999996639999995, + 0.13999996639999995 + ], + 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+ { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.05895424079999999, + 0.09270410876999999, + 0.06995632499999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.030626482696716924, + 0.022193173711252512, + -0.01261089363975167 + ], + "size": [ + 0.2901939843164002, + 0.2858249633115275 + ], + "height": 0.13330441176338378, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.26086863410203165, + 0.2606635901999999, + 0.09013180765544997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_18/model.xml" + }, + "reset_region": { + "size": [ + 2.014799621940852, + 0.65 + ], + "offset": [ + 0.28227368902957384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.13033179509999995, + 0.13033179509999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ 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{ + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.02987154736147111, + -0.006730360861428503, + 0.017636736783345843 + ], + "size": [ + 0.26043034344644483, + 0.21229582678985484 + ], + "height": 0.06884487552189919, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_2_left_group", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8101118469037532, + -2.293174563173876, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edd2ffb29b1460700e031b7f2b54023c41bdd65e --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,507 @@ +{ + "layout_id": 46, + "style_id": 56, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08248466015999999, + 0.08059432751999998, + 0.06550323 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.04150156624670141, + 0.013586690909937499, + 0.027144972321700166 + ], + "size": [ + 0.35681953534412936, + 0.22468162553384308 + ], + "height": 0.10428229578839109, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.31574503515906827, + 0.65 + ], + "offset": [ + -0.3419809824204659, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12999633919999995, + 0.12999633919999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + 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"object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08981192969358237, + 0.08638954750156216, + 0.04186496209999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.026918847720288103, + -0.0033645117338198874, + -0.047038215144871685 + ], + "size": [ + 0.3135785821034149, + 0.2208098632549491 + ], + "height": 0.16289315725088355, + "name": "rack0" + } + }, + { + "name": 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}, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ 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[ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.044889652308914625, + -0.002453985863551472, + -0.05108887640960293 + ], + "size": [ + 0.28170635222962104, + 0.17474918003016207 + ], + "height": 0.19200105489268857, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5795686460748612, + -0.8245562454518908, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..514edb33ff8afc058fac7e69f9b3667efb205d38 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 23, + "style_id": 28, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_left_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.07994136590999999, + 0.09294125462999998, + 0.07433633519999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.03996059954420106, + 0.00656435181960386, + 0.002935658365034531 + ], + "size": [ + 0.3501100986691406, + 0.22200056033698057 + ], + "height": 0.1354467064243426, + "name": "rack1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + 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{ + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group", + "dining_counter": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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{ + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.05318319076000001, + 0.09707054252000001, + 0.07255429020000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.038184224425467164, + 0.02489840540227293, + -0.0384464441496177 + ], + "size": [ + 0.32174842959303396, + 0.2935826073280164 + ], + "height": 0.17889883893921474, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0700599496823757, + 0.65 + ], + "offset": [ + 0.9750350889970861, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12999633919999995, + 0.12999633919999995 + ], + 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"cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_1_right_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.855464524508897, + -6.435279457943306, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..338f6154cb5ba37642be440609525510b02fdca7 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 15, + "style_id": 24, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_front_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.08216721449999999, + 0.08686662425, + 0.07468672375 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.03775477530218775, + 0.01682193425862919, + 0.02632293660031132 + ], + "size": [ + 0.23958769330421373, + 0.19317651128725066 + ], + "height": 0.0910738157138412, + "name": "rack1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "loc": "left_right", + "min_size": [ + 0.22999812089999988, + 0.22999837619999988, + 0.09686653779999996 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0744454582732936, + 0.65 + ], + "offset": [ + 0.6627772708633531, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.11499906044999994, + 0.11499906044999994 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + 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"toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_1", + "counter": "counter_1_front_group_1", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3063261414973324, + -5.7045856588100845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..605f4499fe6eaad195fb86f5dad8ad2803747149 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 11, + "style_id": 52, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08981192969358237, + 0.08638954750156216, + 0.04186496209999999 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.02018267226228755, + 0.017345326033035825, + 0.010306936817574087 + ], + "size": [ + 0.3067495692774834, + 0.1481913202822061 + ], + "height": 0.10232445049519254, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.6030826192595915, + 0.65 + ], + "offset": [ + -0.26395869037020425, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12122598479999995, + 0.12122598479999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bagel", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { 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Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_main_group", + "dining_counter": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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{ + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.038184224425467164, + 0.02489840540227293, + -0.0384464441496177 + ], + "size": [ + 0.32174842959303396, + 0.2935826073280164 + ], + "height": 0.17889883893921474, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9824532762636767, + 0.65 + ], + "offset": [ + 0.4362733618681616, + 0.0, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12999633919999995, + 0.12999633919999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + 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}, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ 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+ { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.038184224425467164, + 0.02489840540227293, + -0.0384464441496177 + ], + "size": [ + 0.32174842959303396, + 0.2935826073280164 + ], + "height": 0.17889883893921474, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.31322456782024044, + 0.65 + ], + "offset": [ + -0.8739202160898798, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12122598479999995, + 0.12122598479999995 + ], + "ensure_object_boundary_in_range": false, + 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"top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.972279164142666, + -0.8370660176582154, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a31d7f0bb19ebbdbb1ed3952b058a67617763eb4 --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 42, + "style_id": 28, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.03996059954420106, + 0.00656435181960386, + 0.002935658365034531 + ], + "size": [ + 0.3501100986691406, + 0.22200056033698057 + ], + "height": 0.1354467064243426, + "name": "rack1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5440538583589055, + 0.65 + ], + "offset": [ + -0.6554730708205472, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12122598479999995, + 0.12122598479999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + 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"FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + 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}, + "gen_textures": {}, + "lang": "Pick up the heated bread from the toaster oven and place it in the bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8318617195640329, + -2.099698665508766, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcbd6b0498d31aa3e1c3ccc77f49bd46e8806bea --- /dev/null +++ b/pretrain/composite/ArrangeBreadBowl/20250903/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 56, + "style_id": 35, + "object_cfgs": [ + { + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08248466015999999, + 0.08059432751999998, + 0.06550323 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0022645491330650705, + 0.0050479603044203195, + -0.08651903890302781 + ], + "size": [ + 0.23838670879454082, + 0.14239027053657466 + ], + "height": 0.14853145780681237, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 2.1808156974829678, + 0.65 + ], + "offset": [ + 0.19926565125851603, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": "hotdog_bun", + "placement": { + "size": [ + 0.12122598479999995, + 0.12122598479999995 + ], + "ensure_object_boundary_in_range": false, + 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bowl. Then move the bread bowl to the dining counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ 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{ + "name": "toaster_oven_bread", + "obj_groups": "bread_food", + "exclude_obj_groups": [ + "hotdog_bun", + "baguette" + ], + "graspable": true, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.030626482696716924, + 0.022193173711252512, + -0.01261089363975167 + ], + "size": [ + 0.2901939843164002, + 0.2858249633115275 + ], + "height": 0.13330441176338378, + "name": "rack0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + 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"sample_args": { + "reference": "bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + 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}, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + 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\ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6718937755a608e497c805828c74a509672fd93b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 29, + "style_id": 42, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06874411319999997, + 0.06765124519999996, + 0.06256560099999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + 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+ ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 38, + "style_id": 22, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.134846564090382, + -6.6823222190368865, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01b071c3d8670dc8bb0a094face95e14cdd2c034 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 60, + "style_id": 21, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + 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}, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_6_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + 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+ }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + 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3.714033083301871e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4467972651671be417810a590533600466925e8 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 52, + "style_id": 24, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + 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file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de857caffbf1d6933fcea0e48bfc04cd5e759e42 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 50, + "style_id": 24, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + 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"groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d08770962c075e3c6b214861e213f36f8495bc2 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 25, + "style_id": 17, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05800542300000001, + 0.05691016485000001, + 0.06300000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + 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-1.5945896758690694, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f890fd41c53938fa1dc365262ba10cd37178d53a --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,428 @@ +{ + "layout_id": 34, + "style_id": 47, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06875460339999998, + 0.05939274739999998, + 0.057136181899999985 + ] + } + }, + "type": "object", + "info": { + 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index 0000000000000000000000000000000000000000..018cb63b1c7956f00b05524c228736288bb8bd6b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,657 @@ +{ + "layout_id": 39, + "style_id": 29, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 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"FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + 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"cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the mango and orange from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + 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0000000000000000000000000000000000000000..62163b880e670deacbffd798a7f8948a6e847a4b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 34, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05855431554000001, + 0.06300000000000001, + 0.060975344430000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": 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}, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the apple and kiwi from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0752236125823667, + -4.795334949554883, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b4459cbf81e80adbf03ca300a9d65f2a4fab1bd --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 30, + "style_id": 17, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": 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3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..520b0cbddb907e9e5ed88b4a7bacd2c125c23aee --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 44, + "style_id": 32, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d930a2811f6a1fa2ecba91f3400e471fd271271 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 54, + "style_id": 38, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + 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{}, + "lang": "Pick the peach and kiwi from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + 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13, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_front_group_1", 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file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4360c9ae45100876124f986ea7b7936b564c7cbf --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 55, + "style_id": 33, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a2cca08667f6568e1dc76c368a5f100fa9d985 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 24, + "style_id": 18, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + 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0000000000000000000000000000000000000000..a9a12b3c7170aae20b2faf17a28dd40a63968a4a --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 28, + "style_id": 60, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3da04b47ed073d1427130e5278681455b68d1255 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 20, + "style_id": 21, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06305586084000002, + 0.06329488725, + 0.06362383356000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": 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+ "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": 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place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridge_1_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.099700070045965, + -3.6247387946920933, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e560426e480996ed147bf653245e637de3b0bbb --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 19, + "style_id": 22, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06874411319999997, + 0.06765124519999996, + 0.06256560099999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": 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"mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.28392152329936, + -1.1357488694701305, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..beff9dec5dd7654b1b55b6a8f0c433014572cabc --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 36, + "style_id": 45, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 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@@ -0,0 +1,472 @@ +{ + "layout_id": 59, + "style_id": 58, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.09304797419999998, + 0.1687658888215359, + 0.03715058176130503 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.8269067787713309, + 0.4609890000000001 + ], + "offset": [ + 0.0, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + 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at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2519c79b1819326e085b2e35c75ae015542b5a5b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 26, + "style_id": 39, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": 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+ "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + 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"cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de14114b56d6de67e7859bce63f27002fce6aa3f --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 36, + "style_id": 30, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + 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"fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + 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--git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77fdad3998de86fddf2193d127186771aeeff8c6 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 51, + "style_id": 11, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07688914870214991, + 0.16551034399151082, + 0.027755119972425617 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + 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{ + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the banana and peach from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3123342574920622, + -1.1686209331791064, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a449677e72fc8fdc85122308e22136a44ff371f --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 40, + "style_id": 50, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05855431554000001, + 0.06300000000000001, + 0.060975344430000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06300000000000001, + 0.06261405192000001, + 0.06246814581000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9580219878749717, + 0.65 + ], + "offset": [ + 0.7384890060625142, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up both apples from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6110833665046957, + -4.208055356196808, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a076ecbaf04651e4da9a35be1a2715b2c564b5 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 51, + "style_id": 48, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + 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} + }, + "init_robot_base_pos": [ + 2.299037396437102, + -1.0797155818736481, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38103cc3eb4b038fa461af66421f3c5ddda7c238 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 23, + "style_id": 58, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.062484940350000004, + 0.06262549524000001, + 0.06351288552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + 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0000000000000000000000000000000000000000..f1fdfdc18f50c64d655f61a6c2a2af6f31b13dc8 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,679 @@ +{ + "layout_id": 25, + "style_id": 38, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], 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{ + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + 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0000000000000000000000000000000000000000..ae5edf210dcfe18e45931dd12aaac7531febe11b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 20, + "style_id": 18, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11879855770401355, + 0.12865368686265272, + 0.03051376928628616 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 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"name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.986, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + 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}, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { 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"robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0796898597445628, + -3.552957374607333, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a849360ebc948826bdca3bd953ab0d7f8719494a --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,679 @@ +{ + "layout_id": 25, + "style_id": 28, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + 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"counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.09365104380349, + -1.6114461300741891, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e111948c79093d65e8562deae8adcf20592fba9 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 55, + "style_id": 48, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.431459053428223, + -1.2872382262393014, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de1f3215a51d66bcea546b203c8cff43284ec925 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 38, + "style_id": 46, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.062039034077169146, + 0.11999439225463793, + 0.06394787856336105 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5cd40a1cb9b35cf0e6cbd32a2ad5723fd375de4 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 37, + "style_id": 41, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05792311519, + 0.0802518694, + 0.06601569931 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 49, + "style_id": 29, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.062039034077169146, + 0.11999439225463793, + 0.06394787856336105 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_area_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..440872be626fb48c6498e8a6bda9045da86b56db --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 35, + "style_id": 43, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c71b36d102bc3e129881248e5f539ebc8929d74f --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 48, + "style_id": 29, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06363273294, + 0.06363277830000001, + 0.058652315820000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": 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"style_id": 29, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.09304797419999998, + 0.1687658888215359, + 0.03715058176130503 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_15/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + 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file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae684e0d8753fca79729186ee744dabd38cabe1 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 14, + "style_id": 59, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": 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} + }, + "init_robot_base_pos": [ + 3.595766781650978, + -1.070853363864049, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00798522b5d204dec9aae295c2867dcfdc0a3b78 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 48, + "style_id": 31, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06825578316094581, + 0.067836388384929, + 0.03648932705092989 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 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+ } + }, + "init_robot_base_pos": [ + 3.4777422829133458, + -4.531064157085338, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99caea88b1e5b070560582fce56002890f6188fd --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 35, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11513056808493138, + 0.1660108392686683, + 0.03863352575523014 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74fa0f868a254cb3f57dc28e5a834b887bfb6311 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 11, + "style_id": 34, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.10754025631, + 0.15993540738000003, + 0.03784478273 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + 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"cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": 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"cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": 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"fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0587092272, + 0.12123810348934207, + 0.06071863479918593 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.17330981054472092, + 0.06318471994477627, + 0.029662677968210347 + ], + "size": [ + 0.43381404064268875, + 0.6011273506057258 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1122050659761806, + 0.650008 + ], + "offset": [ + -0.7533114670119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" 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0000000000000000000000000000000000000000..94bfe68e771223fcb82db5425331900380dca33d --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,519 @@ +{ + "layout_id": 50, + "style_id": 25, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 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[ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..595a4197f9aaa8625f3fe56d3bcff01f4afa4113 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 42, + "style_id": 17, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06363273294, + 0.06363277830000001, + 0.058652315820000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + 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} + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06820440165000001, + 0.06787704892500002, + 0.06796698187500001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0732591304099843, + -1.1531917834369325, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de944cc360be3b6b48f3beb104e4f7ae63abbde4 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 26, + "style_id": 49, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2543985612070814, + -1.2765028112296155, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5810eb96d02fb782a6ef65395ee98c45d921ad50 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 48, + "style_id": 21, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + 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+ "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37a4c9959c7fc64e65d296b527363146f10afdc9 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 43, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + } + }, + "type": "object", + "info": { + 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+ ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0011b7e45d189f2feb0926b6796e791b4b2a4a7 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 42, + "style_id": 15, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" 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fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.062039034077169146, + 0.11999439225463793, + 0.06394787856336105 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05855431554000001, + 0.06300000000000001, + 0.060975344430000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + 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"fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11513056808493138, + 0.1660108392686683, + 0.03863352575523014 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 24, + "style_id": 60, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + 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"min_size": [ + 0.06875460339999998, + 0.05939274739999998, + 0.057136181899999985 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.18449748789877732, + 0.1504713687731577, + 0.20975775030992314 + ], + "size": [ + 0.4145411366001111, + 0.39914873020115793 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.8374734619160478, + 0.650008 + ], + "offset": [ + 0.8906772690419762, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { 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--- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 52, + "style_id": 52, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06300000000000001, + 0.06261405192000001, + 0.06246814581000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_13/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 58, + "style_id": 53, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06874411319999997, + 0.06765124519999996, + 0.06256560099999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9be7f546e7d1c277e92fef03f665ef463fc577ff --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 52, + "style_id": 60, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..095167ad8e68c535ed75d1024fa5fb0d0420e89b --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 43, + "style_id": 52, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05707627820999998, + 0.07515301247999998, + 0.055951042004999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7add013470f7aaaeb8877b377f9113f07cbc895e --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 55, + "style_id": 52, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05855431554000001, + 0.06300000000000001, + 0.060975344430000016 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa9ae3a4504c674515486c5146d22709661ae0d --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 43, + "style_id": 28, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.062039034077169146, + 0.11999439225463793, + 0.06394787856336105 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..083c600098f24435edc6b59fcd75c788b989aa30 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 30, + "style_id": 28, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + 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the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1654242645173487, + -0.7689679616587883, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43eb6479b72c4c3517b0f611f9c0bc9ca3a7deaa --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,677 @@ +{ + "layout_id": 25, + "style_id": 56, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + 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"cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.086698984523418, + -1.6503910178553507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41cab04cb6dee69b45713c7b833d2f8827471bc3 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 60, + "style_id": 42, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06825578316094581, + 0.067836388384929, + 0.03648932705092989 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05792311519, + 0.0802518694, + 0.06601569931 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_6_right_group_1", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": 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"cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick the orange and mango from the fridge and place them inside the tupperware on the counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_right_group_1", + "counter": "counter_6_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + 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+ 0.0, + 0.0, + 3.714033083301871e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7f88e446a05ce3ddd674bdf4e1f36621204b1df --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 48, + "style_id": 55, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", 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+ 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4521418e8dd819a0a1b03173342c592e532c0228 --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 16, + "style_id": 21, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + 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"groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + 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"obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.09304797419999998, + 0.1687658888215359, + 0.03715058176130503 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + 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0000000000000000000000000000000000000000..07f0f528c85888ed7d4fadd2570aa601b440121d --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,433 @@ +{ + "layout_id": 37, + "style_id": 33, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 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"fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit1", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 46, + "style_id": 20, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { 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}, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84952e5d065872fe7942dd999ac018cb8ddf690d --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 39, + "style_id": 49, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11879855770401355, + 0.12865368686265272, + 0.03051376928628616 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": 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a/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9430e4709ea3030c153b43cc8c4cbac285f2a6f --- /dev/null +++ b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,433 @@ +{ + "layout_id": 37, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.062484940350000004, + 0.06262549524000001, + 0.06351288552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], 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b/pretrain/composite/PackFruitContainer/20250806/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 58, + "style_id": 47, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08888043760583926, + 0.1649176007558427, + 0.034822383475391155 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 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+{"task_index": 3, "task": "Pick the peach and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 4, "task": "Pick the apple and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 5, "task": "Pick the mango and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 6, "task": "Pick the tangerine and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 7, "task": "Pick the orange and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 8, "task": "Pick the tangerine and orange from the fridge and place them inside the tupperware on the counter."} +{"task_index": 9, "task": "Pick the peach and pear from the fridge and place them inside the tupperware on the counter."} +{"task_index": 10, "task": "Pick up both pears from the fridge and place them inside the tupperware on the counter."} +{"task_index": 11, "task": "Pick the apple and orange from the fridge and place them inside the tupperware on the counter."} +{"task_index": 12, "task": "Pick the peach and tangerine from the fridge and place them inside the tupperware on the counter."} +{"task_index": 13, "task": "Pick the mango and orange from the fridge and place them inside the tupperware on the counter."} +{"task_index": 14, "task": "Pick up both bananas from the fridge and place them inside the tupperware on the counter."} +{"task_index": 15, "task": "Pick the tangerine and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 16, "task": "Pick the kiwi and mango from the fridge and place them inside the tupperware on the counter."} +{"task_index": 17, "task": "Pick the peach and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 18, "task": "Pick the orange and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 19, "task": "Pick the pear and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 20, "task": "Pick the tangerine and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 21, "task": "Pick the apple and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 22, "task": "Pick the pear and tangerine from the fridge and place them inside the tupperware on the counter."} +{"task_index": 23, "task": "Pick the apple and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 24, "task": "Pick the banana and tangerine from the fridge and place them inside the tupperware on the counter."} +{"task_index": 25, "task": "Pick the orange and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 26, "task": "Pick the banana and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 27, "task": "Pick up both apples from the fridge and place them inside the tupperware on the counter."} +{"task_index": 28, "task": "Pick the mango and tangerine from the fridge and place them inside the tupperware on the counter."} +{"task_index": 29, "task": "Pick the peach and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 30, "task": "Pick the banana and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 31, "task": "Pick the tangerine and pear from the fridge and place them inside the tupperware on the counter."} +{"task_index": 32, "task": "Pick up both kiwis from the fridge and place them inside the tupperware on the counter."} +{"task_index": 33, "task": "Pick the pear and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 34, "task": "Pick the tangerine and mango from the fridge and place them inside the tupperware on the counter."} +{"task_index": 35, "task": "Pick up both tangerines from the fridge and place them inside the tupperware on the counter."} +{"task_index": 36, "task": "Pick the kiwi and pear from the fridge and place them inside the tupperware on the counter."} +{"task_index": 37, "task": "Pick the apple and pear from the fridge and place them inside the tupperware on the counter."} +{"task_index": 38, "task": "Pick up both oranges from the fridge and place them inside the tupperware on the counter."} +{"task_index": 39, "task": "Pick the banana and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 40, "task": "Pick the tangerine and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 41, "task": "Pick the kiwi and orange from the fridge and place them inside the tupperware on the counter."} +{"task_index": 42, "task": "Pick the mango and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 43, "task": "Pick the kiwi and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 44, "task": "Pick up both mangos from the fridge and place them inside the tupperware on the counter."} +{"task_index": 45, "task": "Pick the orange and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 46, "task": "Pick the pear and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 47, "task": "Pick the mango and kiwi from the fridge and place them inside the tupperware on the counter."} +{"task_index": 48, "task": "Pick the kiwi and tangerine from the fridge and place them inside the tupperware on the counter."} +{"task_index": 49, "task": "Pick the kiwi and peach from the fridge and place them inside the tupperware on the counter."} +{"task_index": 50, "task": "Pick the orange and mango from the fridge and place them inside the tupperware on the counter."} +{"task_index": 51, "task": "Pick the kiwi and apple from the fridge and place them inside the tupperware on the counter."} +{"task_index": 52, "task": "Pick the mango and banana from the fridge and place them inside the tupperware on the counter."} +{"task_index": 53, "task": "Pick the banana and mango from the fridge and place them inside the tupperware on the counter."} +{"task_index": 54, "task": "PackFruitContainer"}