diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000001/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7299a94c2162969eccabd9e29e6e790e8d3766c8 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8405876079108017, + -3.033900890200963, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000003/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b59707105b59a4c1e879634ab62b0e3de4c85602 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6992055220460367, + 0.65 + ], + "offset": [ + -1.1503972389769817, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e8e4313bf0f60c8a3c4949a16043537916872f --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.34645657034937294, + 0.65 + ], + "offset": [ + 1.7267717148253134, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000021/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3942c7ec1f06d539b35ed07c06148d4bcb39c4c1 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000026/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..085f43866eeaa7443fd9ce6a196dbe891d9e1087 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.3290977846014276, + 0.65 + ], + "offset": [ + 0.7354511076992862, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + 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0000000000000000000000000000000000000000..501114436d7d888d3732c1dacf8e38b1dabd2fbf --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.33523236022312153, + 0.65 + ], + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000040/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c124cce723bb842c8a1f93f6ee391286cec43ec --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,363 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3766665023019202, + -1.8214796429100444, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000046/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65c92e82e97da00d9dfbb81fed60d0fda6165047 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd7d819030a42e5bc313ab2b3f1b663f78967c5 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": 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{ + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000052/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ebfb9ed85339f9f1c3e082e386c8e08f2ef2f5d5 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_5/model.xml" + }, + "reset_region": { + "size": [ + 1.1131217065994625, + 0.65 + ], + "offset": [ + 0.44343914670026874, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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coffee machine dispenser.", + "fixture_refs": {}, + "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": [ + 2.396099263312875, + -1.7134033395326207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000073/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9edee9dea04b8d721aec6b782890bd926cc7f957 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + 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--git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000074/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d96b2c31774e3a40ef345ebb2d837bdae3381f4 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000081/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d48086530048195bd297678ffb43a62f03ce534 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000088/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fea90872ff079733a352e81dff71f506bc164270 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5648471566194404, + 0.65 + ], + "offset": [ + -1.2175764216902798, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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100644 index 0000000000000000000000000000000000000000..5d19b3b1aac003429e75d70349739643c1a31b56 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8656390405451218, + 0.65 + ], + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000108/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000108/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78c7df8c0b2e484ec6cfbde2a9d70f1a44dc2a21 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000108/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000111/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000111/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79f0d677a2f4a34f8f6a3de8e4843d6a669ab3f7 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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"stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000113/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000113/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8302dcf3786c0023888d0d5e9c28f5b1a878671 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000113/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.2128567723092929, + 0.65 + ], + "offset": [ + -0.14357161384535355, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + 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"glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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": [ + 0.8317794469391054, + -1.1309296173849, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000114/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000114/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf0953799b3cbd5585a1d4e434b871e4fd3c8d97 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000114/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5431348888543834, + 0.65 + ], + "offset": [ + 0.6284325555728083, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": 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+ "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.96843163439468, + -0.8384372897349459, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000116/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000116/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c74b13ec9c32616b207fcc51d2987810906bec8 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000116/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", 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}, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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, 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0000000000000000000000000000000000000000..5208f7f90a0b4c875d42173f465d748831b2003d --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000117/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 1.8024438509829523, + 0.65 + ], + "offset": 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+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000122/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.28095932377991106, + 0.65 + ], + "offset": [ + -0.8595203381100445, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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--git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000124/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000124/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b934632b75216a360b35ef75e6de827a024820 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000124/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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} + }, + "init_robot_base_pos": [ + 5.581450390995708, + -1.467704526030655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000135/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000135/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60b706e15ab632538d467c8326b4a558b5006cc7 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000135/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000141/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 1.7793618546301584, + 0.65 + ], + "offset": [ + 1.0103190726849207, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000142/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000142/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc64a795f22962d6f23e9ccb02434300a55389f --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000142/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000147/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000147/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64d8cdf74cc9a4431491c22ef66142a363f32aea --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000147/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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--git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000160/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000160/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c44b8ac821de85fcbe79ba7849f6a30947c906c --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000160/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000161/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000161/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11319b5bf577f20443efb25000a9b78659d679cb --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000161/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000165/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_5/model.xml" + }, + "reset_region": { + "size": [ + 0.26105869695461204, + 0.65 + ], + "offset": [ + -0.11947065152269398, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000171/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.2987749916624818, + 0.65 + ], + "offset": [ + 1.750612504168759, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000172/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000172/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6ac19376c36db322a1b09e81fc49abb6973b05b --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000172/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], 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-3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000175/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000175/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..332112397a706cd4acb40d1c2a17449992c8f601 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000175/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + 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"counter_2_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7766167402299249, + 0.65 + ], + "offset": [ + 0.46169162988503754, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + 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"oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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 + ], + 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000177/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000177/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..808e30eca328f57fc33b251aea4be36b219aba0b --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000177/ep_meta.json @@ -0,0 +1,363 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 0.7716389237440262, + 0.65 + ], + "offset": [ + 0.4641805381279869, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000184/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000184/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f40dcb543180e6f3d4e46c55e2a1196be526d3 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000184/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000189/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000189/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95d5ecffd80492ae6b84061a75e93ff1ea3f3cd6 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000189/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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"Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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": [ + 0.9649502059858667, + -0.8293780829120222, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000191/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000191/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cdf38228b0f127f9a2a080e5e207df31240b7e9 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000191/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 1.2429778511497258, + 0.65 + ], + "offset": [ + 0.2785110744251371, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" 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4.641689961472761, + -0.7959974214896443, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000194/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000194/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff482e25c4e421f38656863467685bc832df04e --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000194/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5300998357061939, + 0.65 + ], + "offset": [ + 1.634950082146903, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000201/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000201/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea72fe9d848b1b94dedffaea94afab4b52d7cad --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000201/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000206/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000206/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a771f33ec4cff0376ab0397a6a29012407b25f8c --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000206/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000207/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000207/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec3bb0345da697b201fb4b40e62927808c40fb4d --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000207/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], 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"cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000211/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000211/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7eccb1b41acfbc82e9f9544d954bcfc78a4f2a0e --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000211/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.49427133337484364, + 0.65 + ], + "offset": [ + 0.0028643333125781822, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + 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}, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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": [ + 0.752675965804959, + -0.9473453552939682, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000212/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000212/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..554befb8e018e1aad67d40eb823b08f39981b12d --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000212/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 1.3667157533644523, + 0.65 + ], + "offset": [ + -0.8166421233177739, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000224/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000224/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db0e4cd86e36bc3bfca0ca6c9892eb9cc5a959bc --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000224/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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0000000000000000000000000000000000000000..56b939e1a673167d4e3ba187504d1dcc647b86f5 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000229/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 1.6740229434099154, + 0.65 + ], + "offset": [ + 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000243/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000243/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..825d118331770573334066473213bbe5cbcc7bae --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000243/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], 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of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000263/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000263/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..512adc16e78dde20f200fd2aefe64eb88f6b3b0c --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000263/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 1.1700026366843375, + 0.65 + ], + "offset": [ + 1.3149986816578312, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.2595173514439466, + 0.65 + ], + "offset": [ + -0.1202413242780267, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + 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"SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.", + "fixture_refs": {}, + "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": 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0000000000000000000000000000000000000000..aa7f967708ffc5357fbc76ff5607c9c8967e55f7 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000288/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9222956432092144, + 0.65 + ], + "offset": 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0000000000000000000000000000000000000000..26b22a4996542b55c0056893adc6725d31ba3c49 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000289/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_5/model.xml" + }, + "reset_region": { + "size": [ + 0.3191425282869269, + 0.65 + ], + "offset": [ + 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0000000000000000000000000000000000000000..4955dbf8c11e51e211858eb4df688702d874683e --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000298/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 1.7331682440205936, + 0.65 + ], + "offset": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000305/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000305/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f38c56c837aa9dd841ab61e14a7d1e8f2c701e27 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000305/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000313/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000313/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a4f2f162d294cd43f7eb79a3dbcea6224a30384 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000313/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000321/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000321/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5fcee0be1d625fcb016513c5bbc48753de5f40ba --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000321/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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0000000000000000000000000000000000000000..72cb612a6e93366a76a47cde0d2849b0476637a0 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000348/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5951806896138088, + 0.65 + ], + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000358/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000358/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df35864aa6cea2267b78ec74197d929c510619b0 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000358/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000366/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000366/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..880302855a92ba218bc0b9ef644e0b3aac2dfcac --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000366/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000389/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000389/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44416d365510edcca461b8fb742b7c771d9421f4 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000389/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", 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"fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.742553980801075, + 0.65 + ], + "offset": [ + 1.5287230095994624, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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mode 100644 index 0000000000000000000000000000000000000000..51d65ffddf25b7974a330832a1908b27ad90bd12 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000402/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.4909395657722393, + 0.65 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}, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000409/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eadd2c83ee7a7f1bb36cd3e49aef7200f07f202c --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000409/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000411/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000411/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e13cc200550b634c656a9ff9d496606ff1a1acc6 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000411/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "coffee_machine_right_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000414/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000414/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bed36f9c41edade1ee6e83545103213392a80c1 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000414/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": 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file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000417/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000417/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a9805d4db431af1dea64c620ed1c7b04dcbf2f --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000417/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000426/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" + }, + "reset_region": { + "size": [ + 0.8893123662960303, + 0.65 + ], + "offset": [ + 1.4553438168519848, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000431/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000431/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b66fe7baf44db171049c8fd6d5d7ec31589e8523 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000431/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + 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+ ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000451/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000451/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f74ce722a4a4f9430ba71d29a201f5b565c54c76 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000451/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.07853401323801495, + 0.10999823018718757, + 0.0868882212 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000452/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24d0a1e831a4e5a5edae5b8dd5127d8d358d5359 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000452/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000453/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000453/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d00620464c528e0433d3b41c1c7f1dd85758792 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000453/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.08694601483522611, + 0.11999998569488525, + 0.0898801296 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", 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b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000463/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.08082053396544042, + 0.12108939836501713, + 0.0966247104 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml" + }, + "reset_region": { + "size": [ + 0.3576063432461565, + 0.65 + ], + "offset": [ + -1.3211968283769218, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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-3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000478/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000478/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa53b358720968f0c4b1699d55eee52000372454 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000478/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", 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100644 index 0000000000000000000000000000000000000000..963d304bc74142f88a51ad97710f076fc1c770eb --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000480/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6413559868686054, + 0.65 + ], 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100644 index 0000000000000000000000000000000000000000..261f7de41df397815f75448940052c2086f343f0 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000483/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_5/model.xml" + }, + "reset_region": { + "size": [ + 0.38770027845583566, + 0.65 + ], + 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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": [ + 0.7756692330274407, + -0.9492781257582326, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000484/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000484/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86dc8e03c4a689e6bf755c2f642fbec5c519cda9 --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000484/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "coffee_machine_left_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.373792194396831, + 0.65 + ], + "offset": [ + -0.06310390280158451, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + 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a/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000493/ep_meta.json b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000493/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8c028f3cf3bef5158cce9f31bf29bd9ab828fcf --- /dev/null +++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/extras/episode_000493/ep_meta.json @@ -0,0 +1,303 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "mug", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "coffee_machine_main_group", + "min_size": [ + 0.1018326725, + 0.12594614875, + 0.058496044999999997 + ] + }, + "size": [ + 0.3, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ], + "rotation": [ + 0.7853981633974483, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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