diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000010/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c680158ebcc0dc5b284f48aec015e6407353725 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,728 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.04085709341999999, + 0.14299989989999995, + 0.14121945122999996 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8999999999999995, + 0.65 + ], + "offset": [ + -1.0500000000000003, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1902444260197207, + -0.8256371661309364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000022/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94325c5dc5d8773f621a047a9e9163e50141c81b --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_7/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.051480535599999995, + 0.16999999999999998, + 0.05319460139999999 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.538423356119616, + -0.8045541306946502, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000039/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76c232663da45ac62c24fb77827cd0d8d7f274ca --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21596736834000008, + 0.3105000062100002, + 0.013541203080000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.10940386, + 0.10941292999999999, + 0.22814928 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher009/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6263904430408798, + -0.7555938139441696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000062/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fed1ba17fdd2aa69a53fed7b84ee8f0df8fbff42 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.075018433, + 0.17061111349999997, + 0.058316983 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun011/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6944053559122716, + -0.7545285166032011, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000063/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..039ba70947036c165d524002052546ff37e044bd --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.049955, + 0.04974, + 0.1744585375 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard008/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -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" + }, + "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" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0657348428474505, + -0.8307463415976277, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000069/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a4ae71a38153f88fcdb5cf8e3a04a433791c9e --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.07058545141297731, + 0.0697481174911964, + 0.06970349536528721 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.848037000496992, + -0.8102397655383133, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000110/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000110/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e0165b5257a76efdcfb221771bea14547a12423 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000110/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.05153075309999998, + 0.045066413499999985, + 0.09499999999999997 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -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" + }, + "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" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.087518920293383, + -0.7960074882986798, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000128/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000128/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88fd9eb68d603fef1afe890bc9b5863c72684873 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000128/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999991, + 0.65 + ], + "offset": [ + -1.4000000000000004, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999991, + 0.65 + ], + "offset": [ + -1.4000000000000004, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999991, + 0.65 + ], + "offset": [ + -1.4000000000000004, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.055974942, + 0.031835844, + 0.027421074 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow004/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999991, + 0.65 + ], + "offset": [ + -1.4000000000000004, + -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" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7934879971878069, + -4.171145194285773, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000166/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000166/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73bf7fa1d6a7b0c6882a5dab461c2c91491d8fb7 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.25519503, + 0.11328764999999999, + 0.034692970000000004 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray007/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 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" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "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": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.989243800813504, + -0.7759081096802974, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000182/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000182/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60289d5d39dd055ff47e4a082ae84c6a7d02e6a8 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000182/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.03960264150000001, + 0.132459354, + 0.0394309296 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6764473043797432, + -0.801390142783826, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000185/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000185/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d656c0968b36a9c39eeb9c2e476682219cc79c06 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000185/ep_meta.json @@ -0,0 +1,805 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.21596736834000008, + 0.3105000062100002, + 0.013541203080000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.06048275849999998, + 0.07560730124999997, + 0.06169316549999997 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 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" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.5708644691015, + -1.3346969200187213, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000186/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000186/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..233f36b659bf4d54043cc3834168457012c77f42 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000186/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.06310741471999998, + 0.13106280179999996, + 0.06354821395999997 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 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" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.3621147244156457, + -1.5302569863268618, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000187/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000187/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da79d2776918f34d18a9684fcd0c2b61424825b3 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000187/ep_meta.json @@ -0,0 +1,803 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.06837276600000002, + 0.18137249100000002, + 0.020436228 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peeler", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 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" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.554719724407129, + -1.0920812694917341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000209/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000209/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37ecd0024fe1fbe96c46022a90b00c497bcd40b3 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000209/ep_meta.json @@ -0,0 +1,635 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.49999999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.49999999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.49999999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.048639336, + 0.04878058799999999, + 0.12594861599999999 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon011/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.49999999999999994, + 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" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.406332367798494, + -0.5861991825402502, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000238/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000238/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..521642be53427fbfcdd8e2c0836a7a3b3a61071d --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_6/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.056356199999999995, + 0.028692, + 0.027464400000000003 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow005/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.40678301960031, + -0.790410858610478, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000241/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000241/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2fbec4aa47f796268e975393db96f4cf93a97f3 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000241/ep_meta.json @@ -0,0 +1,657 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.12297786, + 0.12364534999999999, + 0.02058102 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6987528111350687, + -0.8019275138245531, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000290/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000290/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce978f371417c4cb1fcba78f45aa19eb39372fd9 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000290/ep_meta.json @@ -0,0 +1,726 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_9/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.0914342, + 0.0881268, + 0.00805444 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato_slice" + ], + "groups": [ + "all" + ], + "cat": "tomato_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice011/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -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" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7955207623313296, + -1.0870813183184955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000334/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000334/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66144e1de93cf8e8ee183f3c7ebcbea11aea5d93 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000334/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.21596736834000008, + 0.3105000062100002, + 0.013541203080000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.06749999567999998, + 0.10799999567999996, + 0.021600005939999993 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chocolate", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "chocolate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.569531601050892, + -0.8107769032782413, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000342/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000342/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caf22982a331bcd2a868ef8f730d7bd2490c53f8 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000342/ep_meta.json @@ -0,0 +1,657 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.06015626189999999, + 0.13335221429999997, + 0.04066842059999999 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.732983604788091, + -0.7610881273387516, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000356/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000356/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..340ba623d55b1733516d4eb5c21d10ff6cc5849e --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000356/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_right_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_right_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.05619158315500001, + 0.056274295475000014, + 0.08976846480750002 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 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" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_right_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.4376776332060173, + -3.3726774753662396, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000360/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000360/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7680b42afad724f57395a415247719db990298c0 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000360/ep_meta.json @@ -0,0 +1,662 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.042583401629999997, + 0.17180189334, + 0.040235673555 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -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" + }, + "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" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1479684790043487, + -0.8015987159920792, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000368/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000368/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76936ec2b9bbafd244966b23daf19020000c7d59 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000368/ep_meta.json @@ -0,0 +1,731 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21596736834000008, + 0.3105000062100002, + 0.013541203080000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml" + }, + "reset_region": { + "size": [ + 2.8999999999999995, + 0.65 + ], + "offset": [ + -0.050000000000000266, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 2.8999999999999995, + 0.65 + ], + "offset": [ + -0.050000000000000266, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 2.8999999999999995, + 0.65 + ], + "offset": [ + -0.050000000000000266, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.07187632649999998, + 0.07369929299999997, + 0.07373744474999996 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_3/model.xml" + }, + "reset_region": { + "size": [ + 2.8999999999999995, + 0.65 + ], + "offset": [ + -0.050000000000000266, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.1609015376066525, + -0.7654219200403809, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000373/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000373/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e4144c33c2d8853a196b57c6a6a6d3f4c23671 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000373/ep_meta.json @@ -0,0 +1,803 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_9/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_6/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 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" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.564575145748942, + -2.27363769347561, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000376/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000376/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c305d8aef8d57bc5e1d2f5f023e9cca4dec7065c --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000376/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.05462476629999999, + 0.09382905279999998, + 0.05638791214999999 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7155121106059148, + -0.8157930489600032, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000416/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000416/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf6e7831e50312e64546189de2f12dc8df1d223 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000416/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 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" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "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": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.182310271166732, + -0.7572862065161643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000427/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000427/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2e75f1296a54d7d58b29b75cf14e72cde8cf93 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000427/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.05346096149999999, + 0.15135991649999997, + 0.048478700999999985 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_6/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.5, + 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" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.427607320480023, + -1.6035147819226228, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000428/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000428/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b65472893263657992ca761ed29233518c268e --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000428/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.22229021025000018, + 0.3374063910000002, + 0.007644037500000005 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.06417902790000002, + 0.06371702350000003, + 0.061594062400000024 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.0028776761375773, + -0.7862239988724631, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000429/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000429/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8069ce958c0afacad767084eb89e2a68b02d849 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000429/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.007882, + 0.179864, + 0.007884 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.343412698407661, + -0.8201377381252319, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000433/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000433/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba70f84d68974eba73f1f0ae9e5beb6384d1cb21 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000433/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_5/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.07441579540999999, + 0.09210057614999999, + 0.058574616814999994 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2187669738767437, + -0.8061745946872293, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000447/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000447/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb976483527cf6aef69379e76707e216d6c79f02 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000447/ep_meta.json @@ -0,0 +1,734 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.05153075309999998, + 0.045066413499999985, + 0.09499999999999997 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_1_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.012182066358214, + -0.8086425381896908, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000481/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000481/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec006e23a92380468d1aba8f6b5177619b78645 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000481/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.1973472579000001, + 0.3510000000000001, + 0.012317523660000006 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.06417902790000002, + 0.06371702350000003, + 0.061594062400000024 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 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" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "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": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.1753454556048126, + -0.8497586460703201, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000482/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000482/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3563a64699f50d3d1bba74c71613af7ccf3636 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000482/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.21110849100000012, + 0.33280476075000015, + 0.014705681625000007 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_right_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_right_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.05389989599999998, + 0.09949044599999997, + 0.054846691999999975 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.5, + 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" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_2_main_group", + "counter": "counter_right_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -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": [ + 2.443392567408287, + -3.219043589085783, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/BreadSelection/20250815/lerobot/extras/episode_000490/ep_meta.json b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000490/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ebc83d5d5c28d60e6a8d04e7c6a5579a913cf61 --- /dev/null +++ b/target/composite/BreadSelection/20250815/lerobot/extras/episode_000490/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "cutting_board", + "obj_groups": "cutting_board", + "init_robot_here": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.2102443155000001, + 0.3375000067500002, + 0.025346209500000008 + ] + }, + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_pastry", + "obj_groups": [ + "baguette", + "cupcake" + ], + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distr_pastry_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "baguette", + "cupcake" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + } + }, + { + "name": "croissant_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "reuse_region_from": "cutting_board", + "size": [ + 1.0, + 0.6 + ], + "pos": [ + 0.0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "croissant", + "obj_groups": "croissant", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "croissant_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "croissant" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_5/model.xml" + } + }, + { + "name": "jam", + "obj_groups": "jam", + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "jam" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.025089015209155997, + 0.16898104405588737, + 0.026982887900000002 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.4, + -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" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.", + "fixture_refs": { + "cab": "cab_main_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.631641560121897, + -0.804947846158626, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000044.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000044.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44ae0c5c7972642701ea02cfc2334459a1eecd8d --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000044.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44666c86be5cef2c2a4a8f89c12dc29c26a0f518aa38260e62dbaa75e181cea3 +size 186818 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000060.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000060.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fbe694a6d80198beefcb437fcd3cb9ff1f6c3e46 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000060.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95b66409e2a81ed5e923b8c95862e1276c611f999aca0aaf59d65a9922de0310 +size 157331 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000061.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000061.parquet new file mode 100644 index 0000000000000000000000000000000000000000..76a9d41883b59b2778c1751bc904d3ff2865b17e --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000061.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47f68f2818ca3dafd669ed38b3fc412b84cc5809a22f291aa14c1a2f32288f9b +size 202939 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000092.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000092.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c709de8339a60f54e6e40bb0c77fb3060fdc4dfa --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000092.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6110fcac8bd5d6c973c75117ef713aa96f68f04512914d815d509c7b560f1cc7 +size 196521 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000122.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000122.parquet new file mode 100644 index 0000000000000000000000000000000000000000..77dc637096b32692031da9001c683a692293db5a --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000122.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a20d4dd8751304575e1ac13ab143849fa145b7847cac47e1c9adb8a6332fa5b4 +size 197175 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000136.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000136.parquet new file mode 100644 index 0000000000000000000000000000000000000000..11201b2e6ef431ed15889b95f5aab8afffc31fda --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000136.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5400ab9dc2ef98f8f38ca102789dfb81d412dca405f3b56c528853137108f4c +size 168847 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000137.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000137.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7285136d2943613d034f5b3a6ae4affb37fbd4e6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000137.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b1b09a1f2a032209888330f2d4ba54ef6cdddd9dd035565cfbd017f9ecd11a8 +size 176184 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000157.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000157.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44884d365cfa5a4724be4034c6573d89487950dd --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000157.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17af8ebafdfdd475b0b24b66369b773a0d6e7c729041f88c2a5f680d0a614572 +size 154127 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000169.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000169.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a7b6bd388fca11c48d772f1868d895c28a79b3a1 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000169.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26ad9511f692a2a20acf752b22e2bdcbfcaae775845af5a94f313d00238e537f +size 192167 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000173.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000173.parquet new file mode 100644 index 0000000000000000000000000000000000000000..65c78aa1e25ac38e8b2fdfc706bc332d22f918b6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000173.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5484369a0f8cba512f873c37528a815762267b8641d817e801588fe67794263 +size 184154 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000203.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000203.parquet new file mode 100644 index 0000000000000000000000000000000000000000..74a51a165fba1f2e847750f1f79ac4e217caf7c6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000203.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:523a6fe950891ddeb2ce552d959505a3da58ccfdbdc9f49f80818c80e3f60750 +size 174968 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000204.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000204.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d3f814563c104ddd4f9bcb66474472219c1b04f9 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000204.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70773aec8c4cfcb2d1a10148a9e5c600d4d25a81eaa47d43f320000b0132ed56 +size 183029 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000211.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000211.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c528506a62b244ce50d0bec9a990f4c611cd6aaf --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000211.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4ed6037c4957284350bb02d2950d51b72e01d2c71e39921f9e82c8a1c8f0188 +size 195343 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000213.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000213.parquet new file mode 100644 index 0000000000000000000000000000000000000000..576114a8ba75d1f7ba26a90fb49769b869e05eb3 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000213.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dddfc97dbc043769d5c53c787b19a50eae5be2ff7faac2ac5de307aa3266ab4 +size 189458 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000257.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000257.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b1284a8597767c805adb331e4a43e073fbba9bc5 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000257.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e647c78e47df612a1cfe0d635b85640f06fd8ddc42342ae6de9698873f4fe67b +size 187323 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000265.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000265.parquet new file mode 100644 index 0000000000000000000000000000000000000000..23a70b9d3d68c08deea5b6f27adc1341c61ac109 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000265.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e6e4b67bb0ec0cf40cb601e556a1beb1ec08ac3f9a721eb8268d849e9f5da82 +size 185464 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000271.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000271.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9412c4fa7f161f82659968f7849723be2cdcda47 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000271.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adcfac3e1a861daa0dd09d75a25e8518377665ee00cf923f3cc85ca41e820d2f +size 152453 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000284.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000284.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6d31aff877a1028d63e939faf1d7f5357928c576 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000284.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5025220880b8b76bd2e7a258cb98a912089021afa548877058bfc7f0f7dcad7d +size 185736 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000326.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000326.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ce76a3ebc36248171c0344815936d92c130ce780 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000326.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71a4a28f0afee85a665dd21a9d49c3a4cad84ff5d97f9e5163c1af89d44095af +size 166778 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000337.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000337.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cef733d83f17445d1e2ef29e017bad8b97adc828 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000337.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5395d8b018b8039d97feed0b5c229d79cee99b086d1b6ce115bc101c1b1af947 +size 165457 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000343.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000343.parquet new file mode 100644 index 0000000000000000000000000000000000000000..db7f544af2d8ff07f51fd8d19cb54305c693a63d --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000343.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a705c6b55a0ac3aa75acb237b784f8f3a005a5395207e546d3d6fa0b6d18d4e +size 177314 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000356.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000356.parquet new file mode 100644 index 0000000000000000000000000000000000000000..31f80da14a73872e74b79f0beb5d888cd47b63ee --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000356.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6639dc47afa0e6a2cc5ad762e5d613bd2df18f8e6d28c18013030bae60144d44 +size 171787 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000357.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000357.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4e33ddb6975809d7200843eaa057efb7efb58057 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000357.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87b6afb1b2c1bcf8b35092debc547c3c860bcd24a31c123eefd7c5314748edf8 +size 180565 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000371.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000371.parquet new file mode 100644 index 0000000000000000000000000000000000000000..17ae4d9b461abab7aa268eaeb2c376ab228dad2a --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000371.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bae14ed16db43faae3fe74e1f8d8c86d250dc9e86069c546e1037fb3368a6b1 +size 173350 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000377.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000377.parquet new file mode 100644 index 0000000000000000000000000000000000000000..782eeed4811e690bd0a1892b55af51a5c927e3c4 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000377.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2446295109e12f22e4d60a3ec4fc1c3983a05fde8a2792d8abd1179b0611be9f +size 167244 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000396.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000396.parquet new file mode 100644 index 0000000000000000000000000000000000000000..940f819e713f4423b29b3f526f5f4b52598ba606 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000396.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be1d125124da29e752feb66cb772666d1862664c077ae6d555cb0287a27ce7a7 +size 174941 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000401.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000401.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ae4c908b162fe5d475b881d77cc1f8c430dc3cf5 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000401.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b83a504547ab97b9506047cdaa5ff4066e62a52aa370c6c8f8aee3d9527838ae +size 184020 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000403.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000403.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2219d7970030b558b8b06151800aecd5d2ee746c --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000403.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97175228e4a486f495ff454953422fd0765774da74d6425bd519766541201c1d +size 190976 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000420.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000420.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d16d8d9fba04b68ead8e4ad92363422b310cf504 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000420.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e9a10b93164b6443244d59934177965ee1a3a6b5264f0f5f255f6ee78da77ed +size 172627 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000424.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000424.parquet new file mode 100644 index 0000000000000000000000000000000000000000..af263a18207a6ab26039d721a103fa1679518e93 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000424.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82fd2b0ab374600f1861d06d0af52aca7e489b2cd98f94bd6d55af86c60fc204 +size 188120 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000425.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000425.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ac5f1049d9c284795ad3bcf716155d6766b89e9f --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000425.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de583ba005cae2f9dec973ffb20b677ef3b07e17bd56f671301807cf368b89a0 +size 174911 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000435.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000435.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f76983ad1dfc7f85f23a103c0ba287ae20bbd12e --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000435.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5ef6797d1a8f63343878dbfb9900590d764e606a251c67814d75bb075214c75 +size 178892 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000442.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000442.parquet new file mode 100644 index 0000000000000000000000000000000000000000..da2ee4baa89d149c5fe3ecb14844d76a44b36d98 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000442.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c33d847cacfee22f92d9ff094020e2026485143df2167c1f743e47e667db2e4 +size 149979 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000447.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000447.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8ddd7a63780536391bfe5b206e96b2007b4f7dab --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000447.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1cea3ee29a956ff963bac4cdcb924ca89dfb34bfa0ba692a444d92d0532923e +size 154804 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000450.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000450.parquet new file mode 100644 index 0000000000000000000000000000000000000000..15e6af34e134ecf535f51f2c4aaa54a6031b3526 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000450.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a1a86f2c12f9640297ee730a0ecbe108babd19beacc7057fbeb3362831494e9 +size 194789 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000477.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000477.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d2f3089260abc0a0a5a91f1f5badb78ba7c21cfb --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000477.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3fdeaf95782edf96ba444b190cf57fdd068dba31e6616ede3a8ca8d7f9d9f12 +size 181390 diff --git a/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000495.parquet b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000495.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cb3f7caf18950d5154cc0389e130a08230b0e71f --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000495.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32edf3fb004bed21b0349956eced39f9ae3051ef3c650e32e4a29a2988baf8f4 +size 163124 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7eba27bc09f564cb7412aaa1747c8ee32fd945e5 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86e6d5725bdc12af0e12953e4193692aceb7f4815d4a1f1ee68f029287137ea8 +size 822142 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95d1f4160b36349a4a529300ede9a937b7e22d22 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3ad0f71621beb101bafb291e57297d2982c918873d0574d267bfecb08900a00 +size 724612 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d749366c62afb243ec8929b75ef273f5fe5cdff6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad259b9d1d8a4fe32c153ff0e0b37fbd39eb1aea4529e9fcd715065fce03b046 +size 818798 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a96649602daf35a30b8c9fae42fcd3c08b8a636 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f09bc3ae3d63a065514d29c3c97c8cd4ed07e75cc5b57a0ce5ccb81609f740e +size 917610 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c6a13e42e629fbb7947de6802c532aea4e8635d --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f584b9b36e9d661db5bdef39444c294e42434cac0012af6dbeaf3fdee13f4a5e +size 859503 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a71957a4ac7cb0b42242d1705380f37e6558840b --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22ba14d9cbbb26446d147f67ce045a71dae968e8c2ffa0857b9cfe182d6395e2 +size 808768 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c6eb637c8b009a12f425456fa296082a8953c4f3 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58deb0ca87fe927a616df400fedab54e366ae15fba3d3175bc9957f85d200032 +size 812098 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6c479a03d8b3433c280ef0b73313a1014292fff --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb9599f406ce5f09ac53c9a59235cf8544f0515a0a80272781727165018a8c9f +size 699836 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5996a2d7b2b7f46cc59981a640436eb894411ba2 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b38b0905599c9482c6542c4a855ce0d5400fef85e01f6c1884f896e2897c5bd8 +size 546736 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..054c8be3f777b3e864b5838014ca190e37997ea6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a95f111bbbe7683e47615e2fcf152baf6904a00c3edba541425a700e349aae0a +size 822292 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f356ceaeb4f794b6460ebefb0397fcb6239e9eb4 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4439578b5307ec7d630cb3554df7e1fe018c9c0a73d588fc5c71b935655f31c0 +size 667869 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51e207de83a0bd96850934fae3b1fbcc28510003 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0803696c1a4a352b21cbe1453418f888dcaa25e8fa03d81953178550248c2a4e +size 742838 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c02bc6f3ba0bd0157cb21656ec2761ecf9870aaa --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:337fda23c253c2519eb7b8ddb7cb297dd30167da017951c43c2583e56f0d010c +size 570483 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ab8c789acc3d848684643251836492b46bdfa84 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec65c40ff2b2255c91683b093aec12be6465ba96e54d48804dde884aee30160b +size 791256 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01191b886c70daa73940477df2e6c8abc274ed85 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d4d75814db76a1c9c08711886c3c6d34741d6f8935c197e510a58b430ae2efb +size 639572 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..14c7c1edea7a73b6f56505f97088e4eaa475ae40 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:565ab94a5e4eeed7e4257eaee16a5ac137683313d5189b6fda5578ef0762d384 +size 894073 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10dcad225813cdbbb33674e3dde4222866f5fb34 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9a2083e6eec428c4091ab08767d7bc708efaa94ac6a7891e594944c0de253e4 +size 567218 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6412fac7bee38a351583bfe3fcf8000add379167 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0574e21c86bffc5a72218dd6a46ecc32cd5f65bae3f4f95628246c730ca4b04 +size 644432 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b54e905a80a6786894a002be9174d32a3424b508 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17aae1ea4002475caa4f5b5243d528b389b8e4b3fde295ca7064a7e65909ef5f +size 622108 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89d7b946d467882179181faaca2c06915f184497 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06486d8ff0b047e675da5ddb6cbf3d3660361864e66427084730786391667d23 +size 710767 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89fee6accff8e3428171996efcb19cc2815babb4 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f7052b675b787f392431cda7c899bfdad34eab72f7b76f6fae223e3ee643da7 +size 709843 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa11e364e6212cb602101765e48e43255ba3cb4e --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4131b2bb2f04d1c5b82f7edfff3e27a6775db616907828129ab93bd477f7def8 +size 830384 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c77e9fe1b07d4ed65c237be642a393ceeb1813a0 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:306572ad11ac0b0202cec2c6a94ab66deb5451b0ec5a70db9278fc80657507a7 +size 612345 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0576adc7ee3db40d5b461372050b50356e2eb3e --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f01dafc13024f8391a489c9d08b96d8d3ed7cd0c4f6ae65f1d2ad054d2cf863 +size 703575 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e419c347d0ddef0c5fdc421217107e14da512c9 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bbb102594593ea5d2f229a92b8a666e020ae48190bdd68900c933aa0da24082 +size 821394 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0a1ce9c224bdaf1647b3787b71826577a704f69 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:513bc46c2bfbe770cb88357a5b512127e5390ba607d7c0879715913030ee534d +size 762941 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6cb31be2e820184081fb4c4ed1561c887e4b4043 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c6c27987f517d18526c141cd235e2ed97c74cbe3cf948948bd5c44d8876e793 +size 610293 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a03f853c431e6b6952abcb9e242afc2b0c3e5935 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d0ece783f3f67fca99fe4fa1ff967dbddef587c8d5acb028859c1f2b7490420 +size 591899 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9fcf5908189f8f9a9bdd9fa82cef1300e6666456 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba737b11bfbea537bb1b40624f4bb33f748995ad499e49a093bf3dc7ebb23f1d +size 876226 diff --git a/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4 b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68faf6cda7199b04c7ee0375674a61c7ece3c89b --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e57ff8b30e7376634c3252d65c064d60290a494f6fa599f5be7c277572afbe2e +size 794152