Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/dataset_meta.json +390 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000000/ep_meta.json +540 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000001/ep_meta.json +600 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000008/ep_meta.json +597 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000011/ep_meta.json +618 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000018/ep_meta.json +540 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000024/ep_meta.json +459 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000025/ep_meta.json +546 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000027/ep_meta.json +525 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000028/ep_meta.json +570 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000033/ep_meta.json +558 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000037/ep_meta.json +489 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000048/ep_meta.json +561 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000049/ep_meta.json +606 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000053/ep_meta.json +525 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000056/ep_meta.json +519 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000060/ep_meta.json +597 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000064/ep_meta.json +642 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000073/ep_meta.json +636 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000074/ep_meta.json +564 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000075/ep_meta.json +501 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000076/ep_meta.json +573 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000078/ep_meta.json +525 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000079/ep_meta.json +705 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000084/ep_meta.json +546 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000087/ep_meta.json +642 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000092/ep_meta.json +597 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000100/ep_meta.json +525 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/embodiment.json +8 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes.jsonl +102 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes_stats.jsonl +0 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/info.json +179 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/modality.json +72 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/stats.json +378 -0
- pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/tasks.jsonl +2 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000003/ep_meta.json +613 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000005/ep_meta.json +583 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000006/ep_meta.json +605 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000009/ep_meta.json +592 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000010/ep_meta.json +608 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000012/ep_meta.json +693 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000013/ep_meta.json +623 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000016/ep_meta.json +623 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000017/ep_meta.json +595 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000019/ep_meta.json +664 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000020/ep_meta.json +602 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000021/ep_meta.json +643 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000022/ep_meta.json +605 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000023/ep_meta.json +523 -0
- pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000026/ep_meta.json +687 -0
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/dataset_meta.json
ADDED
|
@@ -0,0 +1,390 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"date": "8-11-2025",
|
| 3 |
+
"env": "ArrangeUtensilsByType",
|
| 4 |
+
"env_args": {
|
| 5 |
+
"type": 1,
|
| 6 |
+
"env_name": "ArrangeUtensilsByType",
|
| 7 |
+
"env_version": "0.5.1",
|
| 8 |
+
"robosuite_version": "1.5.2",
|
| 9 |
+
"mujoco_version": "3.3.1",
|
| 10 |
+
"env_kwargs": {
|
| 11 |
+
"env_name": "ArrangeUtensilsByType",
|
| 12 |
+
"robots": "PandaOmron",
|
| 13 |
+
"layout_ids": -2,
|
| 14 |
+
"style_ids": -2,
|
| 15 |
+
"obj_instance_split": "pretrain",
|
| 16 |
+
"translucent_robot": false,
|
| 17 |
+
"layout_and_style_ids": null,
|
| 18 |
+
"controller_configs": {
|
| 19 |
+
"type": "HYBRID_MOBILE_BASE",
|
| 20 |
+
"composite_controller_specific_configs": {
|
| 21 |
+
"left_offset": [
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
0.0
|
| 25 |
+
],
|
| 26 |
+
"right_offset": [
|
| 27 |
+
-0.15,
|
| 28 |
+
0.0,
|
| 29 |
+
0.35
|
| 30 |
+
],
|
| 31 |
+
"left2arm_transform": [
|
| 32 |
+
[
|
| 33 |
+
1,
|
| 34 |
+
0,
|
| 35 |
+
0,
|
| 36 |
+
0
|
| 37 |
+
],
|
| 38 |
+
[
|
| 39 |
+
0,
|
| 40 |
+
1,
|
| 41 |
+
0,
|
| 42 |
+
0
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0,
|
| 46 |
+
0,
|
| 47 |
+
1,
|
| 48 |
+
0
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0,
|
| 52 |
+
0,
|
| 53 |
+
0,
|
| 54 |
+
1
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"right2arm_transform": [
|
| 58 |
+
[
|
| 59 |
+
0,
|
| 60 |
+
0.7071068,
|
| 61 |
+
0.7071068,
|
| 62 |
+
0
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
1,
|
| 66 |
+
0,
|
| 67 |
+
0,
|
| 68 |
+
0
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0,
|
| 72 |
+
0.7071068,
|
| 73 |
+
-0.7071068,
|
| 74 |
+
0
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0,
|
| 78 |
+
0,
|
| 79 |
+
0,
|
| 80 |
+
1
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"left2finger_transform": [
|
| 84 |
+
[
|
| 85 |
+
1,
|
| 86 |
+
0,
|
| 87 |
+
0,
|
| 88 |
+
0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0,
|
| 92 |
+
1,
|
| 93 |
+
0,
|
| 94 |
+
0
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0,
|
| 98 |
+
0,
|
| 99 |
+
1,
|
| 100 |
+
0
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
0,
|
| 104 |
+
0,
|
| 105 |
+
0,
|
| 106 |
+
1
|
| 107 |
+
]
|
| 108 |
+
],
|
| 109 |
+
"right2finger_transform": [
|
| 110 |
+
[
|
| 111 |
+
1,
|
| 112 |
+
0,
|
| 113 |
+
0,
|
| 114 |
+
0
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0,
|
| 118 |
+
1,
|
| 119 |
+
0,
|
| 120 |
+
0
|
| 121 |
+
],
|
| 122 |
+
[
|
| 123 |
+
0,
|
| 124 |
+
0,
|
| 125 |
+
1,
|
| 126 |
+
0
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0,
|
| 130 |
+
0,
|
| 131 |
+
0,
|
| 132 |
+
1
|
| 133 |
+
]
|
| 134 |
+
],
|
| 135 |
+
"body_part_ordering": [
|
| 136 |
+
"right",
|
| 137 |
+
"right_gripper",
|
| 138 |
+
"base",
|
| 139 |
+
"torso"
|
| 140 |
+
]
|
| 141 |
+
},
|
| 142 |
+
"body_parts": {
|
| 143 |
+
"right": {
|
| 144 |
+
"type": "OSC_POSE",
|
| 145 |
+
"input_max": 1,
|
| 146 |
+
"input_min": -1,
|
| 147 |
+
"output_max": [
|
| 148 |
+
0.05,
|
| 149 |
+
0.05,
|
| 150 |
+
0.05,
|
| 151 |
+
0.5,
|
| 152 |
+
0.5,
|
| 153 |
+
0.5
|
| 154 |
+
],
|
| 155 |
+
"output_min": [
|
| 156 |
+
-0.05,
|
| 157 |
+
-0.05,
|
| 158 |
+
-0.05,
|
| 159 |
+
-0.5,
|
| 160 |
+
-0.5,
|
| 161 |
+
-0.5
|
| 162 |
+
],
|
| 163 |
+
"kp": 150,
|
| 164 |
+
"damping_ratio": 1,
|
| 165 |
+
"impedance_mode": "fixed",
|
| 166 |
+
"kp_limits": [
|
| 167 |
+
0,
|
| 168 |
+
300
|
| 169 |
+
],
|
| 170 |
+
"damping_ratio_limits": [
|
| 171 |
+
0,
|
| 172 |
+
10
|
| 173 |
+
],
|
| 174 |
+
"position_limits": null,
|
| 175 |
+
"orientation_limits": null,
|
| 176 |
+
"uncouple_pos_ori": true,
|
| 177 |
+
"input_type": "delta",
|
| 178 |
+
"input_ref_frame": "base",
|
| 179 |
+
"interpolation": null,
|
| 180 |
+
"ramp_ratio": 0.2,
|
| 181 |
+
"gripper": {
|
| 182 |
+
"type": "GRIP"
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"torso": {
|
| 186 |
+
"type": "JOINT_POSITION",
|
| 187 |
+
"interpolation": "null",
|
| 188 |
+
"kp": 2000
|
| 189 |
+
},
|
| 190 |
+
"base": {
|
| 191 |
+
"type": "JOINT_VELOCITY",
|
| 192 |
+
"interpolation": "null"
|
| 193 |
+
}
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"env_info": {
|
| 199 |
+
"env_name": "ArrangeUtensilsByType",
|
| 200 |
+
"robots": "PandaOmron",
|
| 201 |
+
"layout_ids": -2,
|
| 202 |
+
"style_ids": -2,
|
| 203 |
+
"obj_instance_split": "pretrain",
|
| 204 |
+
"translucent_robot": true,
|
| 205 |
+
"layout_and_style_ids": null,
|
| 206 |
+
"controller_configs": {
|
| 207 |
+
"type": "HYBRID_MOBILE_BASE",
|
| 208 |
+
"composite_controller_specific_configs": {
|
| 209 |
+
"left_offset": [
|
| 210 |
+
0.0,
|
| 211 |
+
0.0,
|
| 212 |
+
0.0
|
| 213 |
+
],
|
| 214 |
+
"right_offset": [
|
| 215 |
+
-0.15,
|
| 216 |
+
0.0,
|
| 217 |
+
0.35
|
| 218 |
+
],
|
| 219 |
+
"left2arm_transform": [
|
| 220 |
+
[
|
| 221 |
+
1,
|
| 222 |
+
0,
|
| 223 |
+
0,
|
| 224 |
+
0
|
| 225 |
+
],
|
| 226 |
+
[
|
| 227 |
+
0,
|
| 228 |
+
1,
|
| 229 |
+
0,
|
| 230 |
+
0
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
0,
|
| 234 |
+
0,
|
| 235 |
+
1,
|
| 236 |
+
0
|
| 237 |
+
],
|
| 238 |
+
[
|
| 239 |
+
0,
|
| 240 |
+
0,
|
| 241 |
+
0,
|
| 242 |
+
1
|
| 243 |
+
]
|
| 244 |
+
],
|
| 245 |
+
"right2arm_transform": [
|
| 246 |
+
[
|
| 247 |
+
0,
|
| 248 |
+
0.7071068,
|
| 249 |
+
0.7071068,
|
| 250 |
+
0
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
1,
|
| 254 |
+
0,
|
| 255 |
+
0,
|
| 256 |
+
0
|
| 257 |
+
],
|
| 258 |
+
[
|
| 259 |
+
0,
|
| 260 |
+
0.7071068,
|
| 261 |
+
-0.7071068,
|
| 262 |
+
0
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
0,
|
| 266 |
+
0,
|
| 267 |
+
0,
|
| 268 |
+
1
|
| 269 |
+
]
|
| 270 |
+
],
|
| 271 |
+
"left2finger_transform": [
|
| 272 |
+
[
|
| 273 |
+
1,
|
| 274 |
+
0,
|
| 275 |
+
0,
|
| 276 |
+
0
|
| 277 |
+
],
|
| 278 |
+
[
|
| 279 |
+
0,
|
| 280 |
+
1,
|
| 281 |
+
0,
|
| 282 |
+
0
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
0,
|
| 286 |
+
0,
|
| 287 |
+
1,
|
| 288 |
+
0
|
| 289 |
+
],
|
| 290 |
+
[
|
| 291 |
+
0,
|
| 292 |
+
0,
|
| 293 |
+
0,
|
| 294 |
+
1
|
| 295 |
+
]
|
| 296 |
+
],
|
| 297 |
+
"right2finger_transform": [
|
| 298 |
+
[
|
| 299 |
+
1,
|
| 300 |
+
0,
|
| 301 |
+
0,
|
| 302 |
+
0
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
0,
|
| 306 |
+
1,
|
| 307 |
+
0,
|
| 308 |
+
0
|
| 309 |
+
],
|
| 310 |
+
[
|
| 311 |
+
0,
|
| 312 |
+
0,
|
| 313 |
+
1,
|
| 314 |
+
0
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
0,
|
| 318 |
+
0,
|
| 319 |
+
0,
|
| 320 |
+
1
|
| 321 |
+
]
|
| 322 |
+
],
|
| 323 |
+
"body_part_ordering": [
|
| 324 |
+
"right",
|
| 325 |
+
"right_gripper",
|
| 326 |
+
"base",
|
| 327 |
+
"torso"
|
| 328 |
+
]
|
| 329 |
+
},
|
| 330 |
+
"body_parts": {
|
| 331 |
+
"right": {
|
| 332 |
+
"type": "OSC_POSE",
|
| 333 |
+
"input_max": 1,
|
| 334 |
+
"input_min": -1,
|
| 335 |
+
"output_max": [
|
| 336 |
+
0.05,
|
| 337 |
+
0.05,
|
| 338 |
+
0.05,
|
| 339 |
+
0.5,
|
| 340 |
+
0.5,
|
| 341 |
+
0.5
|
| 342 |
+
],
|
| 343 |
+
"output_min": [
|
| 344 |
+
-0.05,
|
| 345 |
+
-0.05,
|
| 346 |
+
-0.05,
|
| 347 |
+
-0.5,
|
| 348 |
+
-0.5,
|
| 349 |
+
-0.5
|
| 350 |
+
],
|
| 351 |
+
"kp": 150,
|
| 352 |
+
"damping_ratio": 1,
|
| 353 |
+
"impedance_mode": "fixed",
|
| 354 |
+
"kp_limits": [
|
| 355 |
+
0,
|
| 356 |
+
300
|
| 357 |
+
],
|
| 358 |
+
"damping_ratio_limits": [
|
| 359 |
+
0,
|
| 360 |
+
10
|
| 361 |
+
],
|
| 362 |
+
"position_limits": null,
|
| 363 |
+
"orientation_limits": null,
|
| 364 |
+
"uncouple_pos_ori": true,
|
| 365 |
+
"input_type": "delta",
|
| 366 |
+
"input_ref_frame": "base",
|
| 367 |
+
"interpolation": null,
|
| 368 |
+
"ramp_ratio": 0.2,
|
| 369 |
+
"gripper": {
|
| 370 |
+
"type": "GRIP"
|
| 371 |
+
}
|
| 372 |
+
},
|
| 373 |
+
"torso": {
|
| 374 |
+
"type": "JOINT_POSITION",
|
| 375 |
+
"interpolation": "null",
|
| 376 |
+
"kp": 2000
|
| 377 |
+
},
|
| 378 |
+
"base": {
|
| 379 |
+
"type": "JOINT_VELOCITY",
|
| 380 |
+
"interpolation": "null"
|
| 381 |
+
}
|
| 382 |
+
}
|
| 383 |
+
}
|
| 384 |
+
},
|
| 385 |
+
"mujoco_version": "3.3.1",
|
| 386 |
+
"robocasa_version": "0.5.1",
|
| 387 |
+
"robosuite_version": "1.5.2",
|
| 388 |
+
"time": "19:20:59",
|
| 389 |
+
"total": 259071
|
| 390 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000000/ep_meta.json
ADDED
|
@@ -0,0 +1,540 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 54,
|
| 3 |
+
"style_id": 20,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.3555,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.3555,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.3555,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.3555,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_right_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_right_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"floor_1_room": {
|
| 220 |
+
"cls": "Floor"
|
| 221 |
+
},
|
| 222 |
+
"floor_1_backing_room": {
|
| 223 |
+
"cls": "Floor"
|
| 224 |
+
},
|
| 225 |
+
"wallaccessory_2_room": {
|
| 226 |
+
"cls": "WallAccessory"
|
| 227 |
+
},
|
| 228 |
+
"wallaccessory_1_room": {
|
| 229 |
+
"cls": "WallAccessory"
|
| 230 |
+
},
|
| 231 |
+
"wallaccessory_3_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"wallaccessory_4_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"window_group_room": {
|
| 238 |
+
"cls": "Window"
|
| 239 |
+
},
|
| 240 |
+
"stool_1_room": {
|
| 241 |
+
"cls": "Stool"
|
| 242 |
+
},
|
| 243 |
+
"stool_2_room": {
|
| 244 |
+
"cls": "Stool"
|
| 245 |
+
},
|
| 246 |
+
"stool_3_room": {
|
| 247 |
+
"cls": "Stool"
|
| 248 |
+
},
|
| 249 |
+
"stool_4_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"fridgefrenchdoor_main_group_1": {
|
| 253 |
+
"cls": "FridgeFrenchDoor"
|
| 254 |
+
},
|
| 255 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 256 |
+
"cls": "HousingCabinet"
|
| 257 |
+
},
|
| 258 |
+
"bottom_main_group_1_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"bottom_main_group_1_1": {
|
| 262 |
+
"cls": "Drawer"
|
| 263 |
+
},
|
| 264 |
+
"microwave_main_group_1": {
|
| 265 |
+
"cls": "Microwave"
|
| 266 |
+
},
|
| 267 |
+
"oven_cabinet_main_group_1": {
|
| 268 |
+
"cls": "HingeCabinet"
|
| 269 |
+
},
|
| 270 |
+
"hingecabinet_4_main_group_1": {
|
| 271 |
+
"cls": "HingeCabinet"
|
| 272 |
+
},
|
| 273 |
+
"microwave_housing_main_group_1": {
|
| 274 |
+
"cls": "HousingCabinet"
|
| 275 |
+
},
|
| 276 |
+
"top_main_group_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"hingecabinet_1_main_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"hingecabinet_3_main_group_1": {
|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
+
"singlecabinet_2_main_group_1": {
|
| 286 |
+
"cls": "SingleCabinet"
|
| 287 |
+
},
|
| 288 |
+
"cube_1_main_group_1": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"counter_1_main_group_1": {
|
| 292 |
+
"cls": "Counter"
|
| 293 |
+
},
|
| 294 |
+
"counter_2_main_group_1": {
|
| 295 |
+
"cls": "Counter"
|
| 296 |
+
},
|
| 297 |
+
"counter_corner_1_main_group_1": {
|
| 298 |
+
"cls": "Counter"
|
| 299 |
+
},
|
| 300 |
+
"stove_main_group_1": {
|
| 301 |
+
"cls": "Stove"
|
| 302 |
+
},
|
| 303 |
+
"stove_hood_main_group_1": {
|
| 304 |
+
"cls": "Hood"
|
| 305 |
+
},
|
| 306 |
+
"stack_03_main_group_1_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_03_main_group_1_1": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_03_main_group_1_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_03_main_group_1_3": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_02_main_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_02_main_group_1_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_02_main_group_1_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_01_main_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_01_main_group_1_1": {
|
| 331 |
+
"cls": "SingleCabinet"
|
| 332 |
+
},
|
| 333 |
+
"papertowel_main_group_1": {
|
| 334 |
+
"cls": "Accessory"
|
| 335 |
+
},
|
| 336 |
+
"coffee_machine_main_group_1": {
|
| 337 |
+
"cls": "CoffeeMachine"
|
| 338 |
+
},
|
| 339 |
+
"toaster_oven_main_group_1": {
|
| 340 |
+
"cls": "ToasterOven"
|
| 341 |
+
},
|
| 342 |
+
"opencabinet_1_right_group_1": {
|
| 343 |
+
"cls": "OpenCabinet"
|
| 344 |
+
},
|
| 345 |
+
"cube_3_right_group_1": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"cube_4_right_group_1": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"hingecabinet_6_right_group_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"hingecabinet_5_right_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"sink_right_group_1": {
|
| 358 |
+
"cls": "Sink"
|
| 359 |
+
},
|
| 360 |
+
"counter_4_right_group_1": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"stack_05_right_group_1_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_05_right_group_1_1": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"stack_05_right_group_1_2": {
|
| 370 |
+
"cls": "PanelCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_04_right_group_1_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_04_right_group_1_1": {
|
| 376 |
+
"cls": "SingleCabinet"
|
| 377 |
+
},
|
| 378 |
+
"stack_06_right_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_06_right_group_1_1": {
|
| 382 |
+
"cls": "SingleCabinet"
|
| 383 |
+
},
|
| 384 |
+
"cube_2_right_group_1": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"cube_1_right_group_1": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"toaster_right_group_1": {
|
| 391 |
+
"cls": "Toaster"
|
| 392 |
+
},
|
| 393 |
+
"island_island_group_1": {
|
| 394 |
+
"cls": "Counter"
|
| 395 |
+
},
|
| 396 |
+
"stack_07_island_group_1_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_07_island_group_1_1": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_07_island_group_1_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_08_island_group_1_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_08_island_group_1_1": {
|
| 409 |
+
"cls": "HingeCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_08_island_group_1_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"cube_3_island_group_1": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"cube_4_island_group_1": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"stack_06_island_group_1_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_06_island_group_1_1": {
|
| 424 |
+
"cls": "SingleCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_06_island_group_1_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"cube_1_island_group_1": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"cube_2_island_group_1": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
+
},
|
| 435 |
+
"dishwasher_1_island_group_1": {
|
| 436 |
+
"cls": "Dishwasher"
|
| 437 |
+
},
|
| 438 |
+
"plant_island_group_1": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
}
|
| 441 |
+
},
|
| 442 |
+
"gen_textures": {},
|
| 443 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 444 |
+
"fixture_refs": {
|
| 445 |
+
"cabinet": "hingecabinet_5_right_group_1",
|
| 446 |
+
"drawer": "stack_07_island_group_1_2",
|
| 447 |
+
"counter": "counter_1_main_group_1"
|
| 448 |
+
},
|
| 449 |
+
"cam_configs": {
|
| 450 |
+
"robot0_agentview_center": {
|
| 451 |
+
"pos": [
|
| 452 |
+
-0.6,
|
| 453 |
+
0.0,
|
| 454 |
+
1.15
|
| 455 |
+
],
|
| 456 |
+
"quat": [
|
| 457 |
+
0.636945903301239,
|
| 458 |
+
0.3325185477733612,
|
| 459 |
+
-0.3199238181114197,
|
| 460 |
+
-0.6175596117973328
|
| 461 |
+
],
|
| 462 |
+
"parent_body": "mobilebase0_support"
|
| 463 |
+
},
|
| 464 |
+
"robot0_agentview_left": {
|
| 465 |
+
"pos": [
|
| 466 |
+
-0.5,
|
| 467 |
+
0.35,
|
| 468 |
+
1.05
|
| 469 |
+
],
|
| 470 |
+
"quat": [
|
| 471 |
+
0.55623853,
|
| 472 |
+
0.29935253,
|
| 473 |
+
-0.37678665,
|
| 474 |
+
-0.6775092
|
| 475 |
+
],
|
| 476 |
+
"camera_attribs": {
|
| 477 |
+
"fovy": "60"
|
| 478 |
+
},
|
| 479 |
+
"parent_body": "mobilebase0_support"
|
| 480 |
+
},
|
| 481 |
+
"robot0_agentview_right": {
|
| 482 |
+
"pos": [
|
| 483 |
+
-0.5,
|
| 484 |
+
-0.35,
|
| 485 |
+
1.05
|
| 486 |
+
],
|
| 487 |
+
"quat": [
|
| 488 |
+
0.6775091886520386,
|
| 489 |
+
0.3767866790294647,
|
| 490 |
+
-0.2993525564670563,
|
| 491 |
+
-0.55623859167099
|
| 492 |
+
],
|
| 493 |
+
"camera_attribs": {
|
| 494 |
+
"fovy": "60"
|
| 495 |
+
},
|
| 496 |
+
"parent_body": "mobilebase0_support"
|
| 497 |
+
},
|
| 498 |
+
"robot0_frontview": {
|
| 499 |
+
"pos": [
|
| 500 |
+
-0.5,
|
| 501 |
+
0,
|
| 502 |
+
0.95
|
| 503 |
+
],
|
| 504 |
+
"quat": [
|
| 505 |
+
0.6088936924934387,
|
| 506 |
+
0.3814677894115448,
|
| 507 |
+
-0.3673907518386841,
|
| 508 |
+
-0.5905545353889465
|
| 509 |
+
],
|
| 510 |
+
"camera_attribs": {
|
| 511 |
+
"fovy": "60"
|
| 512 |
+
},
|
| 513 |
+
"parent_body": "mobilebase0_support"
|
| 514 |
+
},
|
| 515 |
+
"robot0_eye_in_hand": {
|
| 516 |
+
"pos": [
|
| 517 |
+
0.05,
|
| 518 |
+
0,
|
| 519 |
+
0
|
| 520 |
+
],
|
| 521 |
+
"quat": [
|
| 522 |
+
0,
|
| 523 |
+
0.707107,
|
| 524 |
+
0.707107,
|
| 525 |
+
0
|
| 526 |
+
],
|
| 527 |
+
"parent_body": "robot0_right_hand"
|
| 528 |
+
}
|
| 529 |
+
},
|
| 530 |
+
"init_robot_base_pos": [
|
| 531 |
+
4.406897661655811,
|
| 532 |
+
-0.9691205511949607,
|
| 533 |
+
0.0
|
| 534 |
+
],
|
| 535 |
+
"init_robot_base_ori": [
|
| 536 |
+
0.0,
|
| 537 |
+
0.0,
|
| 538 |
+
1.5706379572530664
|
| 539 |
+
]
|
| 540 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000001/ep_meta.json
ADDED
|
@@ -0,0 +1,600 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 35,
|
| 3 |
+
"style_id": 34,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.0418,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.0418,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_19/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.0418,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_0/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.0418,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_right_2_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_right_2_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_main_3_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_main_3_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"floor_1_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_1_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"wallaccessory_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wallaccessory.002_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory.003_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"stool_3_room": {
|
| 259 |
+
"cls": "Stool"
|
| 260 |
+
},
|
| 261 |
+
"stool_2_room": {
|
| 262 |
+
"cls": "Stool"
|
| 263 |
+
},
|
| 264 |
+
"stool_1_room": {
|
| 265 |
+
"cls": "Stool"
|
| 266 |
+
},
|
| 267 |
+
"counter_1_main_group_1": {
|
| 268 |
+
"cls": "Counter"
|
| 269 |
+
},
|
| 270 |
+
"counter_corner_1_main_group_1": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"hingecabinet_1_main_group_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"box_1_main_group_1": {
|
| 277 |
+
"cls": "Box"
|
| 278 |
+
},
|
| 279 |
+
"hingecabinet_2_main_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_main_group_1_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_main_group_1_1": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_main_group_1_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_main_group_1_3": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_main_group_1_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_main_group_1_1": {
|
| 298 |
+
"cls": "SingleCabinet"
|
| 299 |
+
},
|
| 300 |
+
"fridgefrenchdoor_main_group_1": {
|
| 301 |
+
"cls": "FridgeFrenchDoor"
|
| 302 |
+
},
|
| 303 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 304 |
+
"cls": "HousingCabinet"
|
| 305 |
+
},
|
| 306 |
+
"knifeblock_main_group_1": {
|
| 307 |
+
"cls": "Accessory"
|
| 308 |
+
},
|
| 309 |
+
"paper_towel_main_group_1": {
|
| 310 |
+
"cls": "Accessory"
|
| 311 |
+
},
|
| 312 |
+
"toaster_main_group_1": {
|
| 313 |
+
"cls": "Toaster"
|
| 314 |
+
},
|
| 315 |
+
"sink_right_group_1": {
|
| 316 |
+
"cls": "Sink"
|
| 317 |
+
},
|
| 318 |
+
"counter_1_right_group_1": {
|
| 319 |
+
"cls": "Counter"
|
| 320 |
+
},
|
| 321 |
+
"counter_2_right_group_1": {
|
| 322 |
+
"cls": "Counter"
|
| 323 |
+
},
|
| 324 |
+
"singlecabinet_1_right_group_1": {
|
| 325 |
+
"cls": "SingleCabinet"
|
| 326 |
+
},
|
| 327 |
+
"cube_2_right_group_1": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_3_right_group_1_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_3_right_group_1_1": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_3_right_group_1_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_3_right_group_1_3": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
+
},
|
| 342 |
+
"stack_1_right_group_1_base": {
|
| 343 |
+
"cls": "Box"
|
| 344 |
+
},
|
| 345 |
+
"stack_1_right_group_1_1": {
|
| 346 |
+
"cls": "SingleCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cube_1_right_group_1": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_2_right_group_1_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_2_right_group_1_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"stack_2_right_group_1_2": {
|
| 358 |
+
"cls": "PanelCabinet"
|
| 359 |
+
},
|
| 360 |
+
"dishwasher_1_right_group_1": {
|
| 361 |
+
"cls": "Dishwasher"
|
| 362 |
+
},
|
| 363 |
+
"cube_3_right_group_1": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stovetop_left_group_1": {
|
| 367 |
+
"cls": "Stovetop"
|
| 368 |
+
},
|
| 369 |
+
"counter_1_left_group_1": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"hingecabinet_3_left_group_1": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"hingecabinet_2_left_group_1": {
|
| 376 |
+
"cls": "HingeCabinet"
|
| 377 |
+
},
|
| 378 |
+
"hingecabinet_1_left_group_1": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"bottom_left_group_1_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"bottom_left_group_1_1": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"oven_left_group_1": {
|
| 388 |
+
"cls": "Oven"
|
| 389 |
+
},
|
| 390 |
+
"oven_housing_left_group_1": {
|
| 391 |
+
"cls": "HousingCabinet"
|
| 392 |
+
},
|
| 393 |
+
"microwave_left_group_1": {
|
| 394 |
+
"cls": "Microwave"
|
| 395 |
+
},
|
| 396 |
+
"microwave_housing_left_group_1": {
|
| 397 |
+
"cls": "HousingCabinet"
|
| 398 |
+
},
|
| 399 |
+
"top_left_group_1": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_1_left_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_left_group_1_1": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_left_group_1_2": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_left_group_1_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_left_group_1_1": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_left_group_1_2": {
|
| 418 |
+
"cls": "PanelCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_3_left_group_1_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_3_left_group_1_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_3_left_group_1_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"coffeemachine_left_group_1": {
|
| 430 |
+
"cls": "CoffeeMachine"
|
| 431 |
+
},
|
| 432 |
+
"toaster_oven_left_group_1": {
|
| 433 |
+
"cls": "ToasterOven"
|
| 434 |
+
},
|
| 435 |
+
"counter_1_island_group": {
|
| 436 |
+
"cls": "Counter"
|
| 437 |
+
},
|
| 438 |
+
"stack_2_island_group_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_2_island_group_1": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_2_island_group_2": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_1_island_group_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_1_island_group_1": {
|
| 451 |
+
"cls": "SingleCabinet"
|
| 452 |
+
},
|
| 453 |
+
"stack_3_island_group_base": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"stack_3_island_group_1": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"plant_island_group": {
|
| 460 |
+
"cls": "Accessory"
|
| 461 |
+
},
|
| 462 |
+
"stack_2_dining_area_group_base": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"stack_2_dining_area_group_1": {
|
| 466 |
+
"cls": "HingeCabinet"
|
| 467 |
+
},
|
| 468 |
+
"stack_2_dining_area_group_2": {
|
| 469 |
+
"cls": "Drawer"
|
| 470 |
+
},
|
| 471 |
+
"stack_4_dining_area_group_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_4_dining_area_group_1": {
|
| 475 |
+
"cls": "SingleCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_1_dining_area_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_1_dining_area_group_1": {
|
| 481 |
+
"cls": "SingleCabinet"
|
| 482 |
+
},
|
| 483 |
+
"stack_3_dining_area_group_base": {
|
| 484 |
+
"cls": "Box"
|
| 485 |
+
},
|
| 486 |
+
"stack_3_dining_area_group_1": {
|
| 487 |
+
"cls": "HingeCabinet"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_dining_area_group_2": {
|
| 490 |
+
"cls": "Drawer"
|
| 491 |
+
},
|
| 492 |
+
"stool_3_stool_group_1": {
|
| 493 |
+
"cls": "Stool"
|
| 494 |
+
},
|
| 495 |
+
"stool_2_stool_group_1": {
|
| 496 |
+
"cls": "Stool"
|
| 497 |
+
},
|
| 498 |
+
"stool_1_stool_group_1": {
|
| 499 |
+
"cls": "Stool"
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
"gen_textures": {},
|
| 503 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 504 |
+
"fixture_refs": {
|
| 505 |
+
"cabinet": "hingecabinet_1_main_group_1",
|
| 506 |
+
"drawer": "stack_3_right_group_1_3",
|
| 507 |
+
"counter": "counter_1_main_group_1"
|
| 508 |
+
},
|
| 509 |
+
"cam_configs": {
|
| 510 |
+
"robot0_agentview_center": {
|
| 511 |
+
"pos": [
|
| 512 |
+
-0.6,
|
| 513 |
+
0.0,
|
| 514 |
+
1.15
|
| 515 |
+
],
|
| 516 |
+
"quat": [
|
| 517 |
+
0.636945903301239,
|
| 518 |
+
0.3325185477733612,
|
| 519 |
+
-0.3199238181114197,
|
| 520 |
+
-0.6175596117973328
|
| 521 |
+
],
|
| 522 |
+
"parent_body": "mobilebase0_support"
|
| 523 |
+
},
|
| 524 |
+
"robot0_agentview_left": {
|
| 525 |
+
"pos": [
|
| 526 |
+
-0.5,
|
| 527 |
+
0.35,
|
| 528 |
+
1.05
|
| 529 |
+
],
|
| 530 |
+
"quat": [
|
| 531 |
+
0.55623853,
|
| 532 |
+
0.29935253,
|
| 533 |
+
-0.37678665,
|
| 534 |
+
-0.6775092
|
| 535 |
+
],
|
| 536 |
+
"camera_attribs": {
|
| 537 |
+
"fovy": "60"
|
| 538 |
+
},
|
| 539 |
+
"parent_body": "mobilebase0_support"
|
| 540 |
+
},
|
| 541 |
+
"robot0_agentview_right": {
|
| 542 |
+
"pos": [
|
| 543 |
+
-0.5,
|
| 544 |
+
-0.35,
|
| 545 |
+
1.05
|
| 546 |
+
],
|
| 547 |
+
"quat": [
|
| 548 |
+
0.6775091886520386,
|
| 549 |
+
0.3767866790294647,
|
| 550 |
+
-0.2993525564670563,
|
| 551 |
+
-0.55623859167099
|
| 552 |
+
],
|
| 553 |
+
"camera_attribs": {
|
| 554 |
+
"fovy": "60"
|
| 555 |
+
},
|
| 556 |
+
"parent_body": "mobilebase0_support"
|
| 557 |
+
},
|
| 558 |
+
"robot0_frontview": {
|
| 559 |
+
"pos": [
|
| 560 |
+
-0.5,
|
| 561 |
+
0,
|
| 562 |
+
0.95
|
| 563 |
+
],
|
| 564 |
+
"quat": [
|
| 565 |
+
0.6088936924934387,
|
| 566 |
+
0.3814677894115448,
|
| 567 |
+
-0.3673907518386841,
|
| 568 |
+
-0.5905545353889465
|
| 569 |
+
],
|
| 570 |
+
"camera_attribs": {
|
| 571 |
+
"fovy": "60"
|
| 572 |
+
},
|
| 573 |
+
"parent_body": "mobilebase0_support"
|
| 574 |
+
},
|
| 575 |
+
"robot0_eye_in_hand": {
|
| 576 |
+
"pos": [
|
| 577 |
+
0.05,
|
| 578 |
+
0,
|
| 579 |
+
0
|
| 580 |
+
],
|
| 581 |
+
"quat": [
|
| 582 |
+
0,
|
| 583 |
+
0.707107,
|
| 584 |
+
0.707107,
|
| 585 |
+
0
|
| 586 |
+
],
|
| 587 |
+
"parent_body": "robot0_right_hand"
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"init_robot_base_pos": [
|
| 591 |
+
4.163269034579123,
|
| 592 |
+
-0.8243174773798886,
|
| 593 |
+
0.0
|
| 594 |
+
],
|
| 595 |
+
"init_robot_base_ori": [
|
| 596 |
+
0.0,
|
| 597 |
+
0.0,
|
| 598 |
+
1.5707961519493434
|
| 599 |
+
]
|
| 600 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000008/ep_meta.json
ADDED
|
@@ -0,0 +1,597 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 56,
|
| 3 |
+
"style_id": 15,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.579347,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.579347,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.579347,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_18/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.579347,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"floor_1_room": {
|
| 220 |
+
"cls": "Floor"
|
| 221 |
+
},
|
| 222 |
+
"floor_1_backing_room": {
|
| 223 |
+
"cls": "Floor"
|
| 224 |
+
},
|
| 225 |
+
"wallaccessory_1_room": {
|
| 226 |
+
"cls": "WallAccessory"
|
| 227 |
+
},
|
| 228 |
+
"wallaccessory_2_room": {
|
| 229 |
+
"cls": "WallAccessory"
|
| 230 |
+
},
|
| 231 |
+
"wallaccessory_3_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"wallaccessory_4_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"lightswitch_02_room": {
|
| 238 |
+
"cls": "WallAccessory"
|
| 239 |
+
},
|
| 240 |
+
"lightswitch_03_room": {
|
| 241 |
+
"cls": "WallAccessory"
|
| 242 |
+
},
|
| 243 |
+
"stool_3_room": {
|
| 244 |
+
"cls": "Stool"
|
| 245 |
+
},
|
| 246 |
+
"stool_2_room": {
|
| 247 |
+
"cls": "Stool"
|
| 248 |
+
},
|
| 249 |
+
"stool_1_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stack_13_island_group_2_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_13_island_group_2_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"stack_04_island_group_2_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_04_island_group_2_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"stack_12_island_group_2_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_12_island_group_2_1": {
|
| 268 |
+
"cls": "HingeCabinet"
|
| 269 |
+
},
|
| 270 |
+
"singlecabinet_2_main_group_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"hingecabinet_5_main_group_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"hingecabinet_4_main_group_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"opencabinet_2_main_group_1": {
|
| 280 |
+
"cls": "OpenCabinet"
|
| 281 |
+
},
|
| 282 |
+
"opencabinet_3_main_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"counter_2_main_group_1": {
|
| 286 |
+
"cls": "Counter"
|
| 287 |
+
},
|
| 288 |
+
"counter_corner_1_main_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"counter_3_main_group_1": {
|
| 292 |
+
"cls": "Counter"
|
| 293 |
+
},
|
| 294 |
+
"stove_main_group_1": {
|
| 295 |
+
"cls": "Stove"
|
| 296 |
+
},
|
| 297 |
+
"stove_hood_main_group_1": {
|
| 298 |
+
"cls": "Hood"
|
| 299 |
+
},
|
| 300 |
+
"cube_4_main_group_1": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_11_main_group_1_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_11_main_group_1_1": {
|
| 307 |
+
"cls": "SingleCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_03_main_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_03_main_group_1_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_03_main_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_02_main_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_02_main_group_1_1": {
|
| 322 |
+
"cls": "SingleCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_04_main_group_1_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_04_main_group_1_1": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_04_main_group_1_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"stack_04_main_group_1_3": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_08_main_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_08_main_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_08_main_group_1_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_06_main_group_1_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_06_main_group_1_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_07_main_group_1_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_07_main_group_1_1": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_07_main_group_1_2": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"stack_07_main_group_1_3": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"cube_8_main_group_1": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"coffee_machine_main_group_1": {
|
| 367 |
+
"cls": "CoffeeMachine"
|
| 368 |
+
},
|
| 369 |
+
"papertowel_main_group_1": {
|
| 370 |
+
"cls": "Accessory"
|
| 371 |
+
},
|
| 372 |
+
"plant_main_group_1": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
+
"toaster_oven_main_group_1": {
|
| 376 |
+
"cls": "ToasterOven"
|
| 377 |
+
},
|
| 378 |
+
"singlecabinet_1_right_group_1": {
|
| 379 |
+
"cls": "SingleCabinet"
|
| 380 |
+
},
|
| 381 |
+
"hingecabinet_1_right_group_1": {
|
| 382 |
+
"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
+
"hingecabinet_9_right_group_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"counter_1_right_group_1": {
|
| 388 |
+
"cls": "Counter"
|
| 389 |
+
},
|
| 390 |
+
"counter_8_right_group_1": {
|
| 391 |
+
"cls": "Counter"
|
| 392 |
+
},
|
| 393 |
+
"stack_6_right_group_1_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_6_right_group_1_1": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_6_right_group_1_2": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_4_right_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_4_right_group_1_1": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
+
"cube_11_right_group_1": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_7_right_group_1_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_7_right_group_1_1": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"stack_7_right_group_1_2": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"cube_12_right_group_1": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"fridgefrenchdoor_right_group_1": {
|
| 424 |
+
"cls": "FridgeFrenchDoor"
|
| 425 |
+
},
|
| 426 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 427 |
+
"cls": "HousingCabinet"
|
| 428 |
+
},
|
| 429 |
+
"bottom_right_group_1_base": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"bottom_right_group_1_1": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"oven_cabinet_right_group_1": {
|
| 436 |
+
"cls": "HingeCabinet"
|
| 437 |
+
},
|
| 438 |
+
"microwave_right_group_1": {
|
| 439 |
+
"cls": "Microwave"
|
| 440 |
+
},
|
| 441 |
+
"microwave_housing_right_group_1": {
|
| 442 |
+
"cls": "HousingCabinet"
|
| 443 |
+
},
|
| 444 |
+
"top_right_group_1": {
|
| 445 |
+
"cls": "HingeCabinet"
|
| 446 |
+
},
|
| 447 |
+
"hingecabinet_2_right_group_1": {
|
| 448 |
+
"cls": "HingeCabinet"
|
| 449 |
+
},
|
| 450 |
+
"toaster_right_group_1": {
|
| 451 |
+
"cls": "Toaster"
|
| 452 |
+
},
|
| 453 |
+
"sink_island_group_1": {
|
| 454 |
+
"cls": "Sink"
|
| 455 |
+
},
|
| 456 |
+
"island_island_group_1": {
|
| 457 |
+
"cls": "Counter"
|
| 458 |
+
},
|
| 459 |
+
"stack_11_island_group_1_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_11_island_group_1_1": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
+
},
|
| 465 |
+
"stack_11_island_group_1_2": {
|
| 466 |
+
"cls": "PanelCabinet"
|
| 467 |
+
},
|
| 468 |
+
"stack_09_island_group_1_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_09_island_group_1_1": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
},
|
| 474 |
+
"stack_09_island_group_1_2": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_09_island_group_1_3": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"stack_10_island_group_1_base": {
|
| 481 |
+
"cls": "Box"
|
| 482 |
+
},
|
| 483 |
+
"stack_10_island_group_1_1": {
|
| 484 |
+
"cls": "SingleCabinet"
|
| 485 |
+
},
|
| 486 |
+
"stack_10_island_group_1_2": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"dishwasher_1_island_group_1": {
|
| 490 |
+
"cls": "Dishwasher"
|
| 491 |
+
},
|
| 492 |
+
"cube_1_island_group_1": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"cube_2_island_group_1": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"gen_textures": {},
|
| 500 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 501 |
+
"fixture_refs": {
|
| 502 |
+
"cabinet": "hingecabinet_1_right_group_1",
|
| 503 |
+
"drawer": "stack_03_main_group_1_2",
|
| 504 |
+
"counter": "counter_2_main_group_1"
|
| 505 |
+
},
|
| 506 |
+
"cam_configs": {
|
| 507 |
+
"robot0_agentview_center": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.6,
|
| 510 |
+
0.0,
|
| 511 |
+
1.15
|
| 512 |
+
],
|
| 513 |
+
"quat": [
|
| 514 |
+
0.636945903301239,
|
| 515 |
+
0.3325185477733612,
|
| 516 |
+
-0.3199238181114197,
|
| 517 |
+
-0.6175596117973328
|
| 518 |
+
],
|
| 519 |
+
"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_agentview_left": {
|
| 522 |
+
"pos": [
|
| 523 |
+
-0.5,
|
| 524 |
+
0.35,
|
| 525 |
+
1.05
|
| 526 |
+
],
|
| 527 |
+
"quat": [
|
| 528 |
+
0.55623853,
|
| 529 |
+
0.29935253,
|
| 530 |
+
-0.37678665,
|
| 531 |
+
-0.6775092
|
| 532 |
+
],
|
| 533 |
+
"camera_attribs": {
|
| 534 |
+
"fovy": "60"
|
| 535 |
+
},
|
| 536 |
+
"parent_body": "mobilebase0_support"
|
| 537 |
+
},
|
| 538 |
+
"robot0_agentview_right": {
|
| 539 |
+
"pos": [
|
| 540 |
+
-0.5,
|
| 541 |
+
-0.35,
|
| 542 |
+
1.05
|
| 543 |
+
],
|
| 544 |
+
"quat": [
|
| 545 |
+
0.6775091886520386,
|
| 546 |
+
0.3767866790294647,
|
| 547 |
+
-0.2993525564670563,
|
| 548 |
+
-0.55623859167099
|
| 549 |
+
],
|
| 550 |
+
"camera_attribs": {
|
| 551 |
+
"fovy": "60"
|
| 552 |
+
},
|
| 553 |
+
"parent_body": "mobilebase0_support"
|
| 554 |
+
},
|
| 555 |
+
"robot0_frontview": {
|
| 556 |
+
"pos": [
|
| 557 |
+
-0.5,
|
| 558 |
+
0,
|
| 559 |
+
0.95
|
| 560 |
+
],
|
| 561 |
+
"quat": [
|
| 562 |
+
0.6088936924934387,
|
| 563 |
+
0.3814677894115448,
|
| 564 |
+
-0.3673907518386841,
|
| 565 |
+
-0.5905545353889465
|
| 566 |
+
],
|
| 567 |
+
"camera_attribs": {
|
| 568 |
+
"fovy": "60"
|
| 569 |
+
},
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_eye_in_hand": {
|
| 573 |
+
"pos": [
|
| 574 |
+
0.05,
|
| 575 |
+
0,
|
| 576 |
+
0
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0,
|
| 580 |
+
0.707107,
|
| 581 |
+
0.707107,
|
| 582 |
+
0
|
| 583 |
+
],
|
| 584 |
+
"parent_body": "robot0_right_hand"
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"init_robot_base_pos": [
|
| 588 |
+
4.722627487141555,
|
| 589 |
+
-0.8143863924419313,
|
| 590 |
+
0.0
|
| 591 |
+
],
|
| 592 |
+
"init_robot_base_ori": [
|
| 593 |
+
0.0,
|
| 594 |
+
0.0,
|
| 595 |
+
1.57064844767067
|
| 596 |
+
]
|
| 597 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000011/ep_meta.json
ADDED
|
@@ -0,0 +1,618 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 17,
|
| 3 |
+
"style_id": 52,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.8334433326264594,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
-1.2667783336867702,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.8334433326264594,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
-1.2667783336867702,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_10/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.8334433326264594,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
-1.2667783336867702,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_15/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.8334433326264594,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
-1.2667783336867702,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"window_group_room": {
|
| 226 |
+
"cls": "Window"
|
| 227 |
+
},
|
| 228 |
+
"floor_1_room": {
|
| 229 |
+
"cls": "Floor"
|
| 230 |
+
},
|
| 231 |
+
"floor_1_backing_room": {
|
| 232 |
+
"cls": "Floor"
|
| 233 |
+
},
|
| 234 |
+
"wall_accessory_1_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"wall_accessory_2_room": {
|
| 238 |
+
"cls": "WallAccessory"
|
| 239 |
+
},
|
| 240 |
+
"wall_accessory_3_room": {
|
| 241 |
+
"cls": "WallAccessory"
|
| 242 |
+
},
|
| 243 |
+
"wall_accessory_4_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"light_switch_1_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_5_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_6_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"stool_1_room": {
|
| 256 |
+
"cls": "Stool"
|
| 257 |
+
},
|
| 258 |
+
"stool_2_room": {
|
| 259 |
+
"cls": "Stool"
|
| 260 |
+
},
|
| 261 |
+
"stool_3_room": {
|
| 262 |
+
"cls": "Stool"
|
| 263 |
+
},
|
| 264 |
+
"counter_corner_1_main_group_1": {
|
| 265 |
+
"cls": "Counter"
|
| 266 |
+
},
|
| 267 |
+
"stovetop_main_group_1": {
|
| 268 |
+
"cls": "Stovetop"
|
| 269 |
+
},
|
| 270 |
+
"counter_1_main_group_1": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"counter_corner_2_main_group_1": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"box_1_main_group_1": {
|
| 277 |
+
"cls": "Box"
|
| 278 |
+
},
|
| 279 |
+
"stack_1_main_group_1_base": {
|
| 280 |
+
"cls": "Box"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_main_group_1_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"stack_2_main_group_1_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_2_main_group_1_1": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stack_2_main_group_1_2": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_main_group_1_3": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_3_main_group_1_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_3_main_group_1_1": {
|
| 301 |
+
"cls": "SingleCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_4_main_group_1_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_4_main_group_1_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_5_main_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_5_main_group_1_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_6_main_group_1_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_6_main_group_1_1": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"stack_6_main_group_1_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_6_main_group_1_3": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_7_main_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_7_main_group_1_1": {
|
| 331 |
+
"cls": "SingleCabinet"
|
| 332 |
+
},
|
| 333 |
+
"box_2_main_group_1": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"hood_main_group_1": {
|
| 337 |
+
"cls": "Hood"
|
| 338 |
+
},
|
| 339 |
+
"cab_corner_main_group_1": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"cab_1_main_group_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"cab_2_main_group_1": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cab_3_main_group_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"cab_4_main_group_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"cab_5_main_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"cab_6_main_group_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"cab_corner_2_main_group_1": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"coffee_machine_main_group_1": {
|
| 364 |
+
"cls": "CoffeeMachine"
|
| 365 |
+
},
|
| 366 |
+
"toaster_main_group_1": {
|
| 367 |
+
"cls": "Toaster"
|
| 368 |
+
},
|
| 369 |
+
"paper_towel_main_group_1": {
|
| 370 |
+
"cls": "Accessory"
|
| 371 |
+
},
|
| 372 |
+
"knife_block_main_group_1": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
+
"counter_1_left_group_1": {
|
| 376 |
+
"cls": "Counter"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_left_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_left_group_1_1": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_left_group_1_2": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_1_left_group_1_3": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"box_left_group_1": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"bottom_left_group_1_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"bottom_left_group_1_1": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"oven_left_group_1": {
|
| 400 |
+
"cls": "Oven"
|
| 401 |
+
},
|
| 402 |
+
"oven_housing_left_group_1": {
|
| 403 |
+
"cls": "HousingCabinet"
|
| 404 |
+
},
|
| 405 |
+
"microwave_left_group_1": {
|
| 406 |
+
"cls": "Microwave"
|
| 407 |
+
},
|
| 408 |
+
"microwave_housing_left_group_1": {
|
| 409 |
+
"cls": "HousingCabinet"
|
| 410 |
+
},
|
| 411 |
+
"top_left_group_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"fridge_1_left_group_1": {
|
| 415 |
+
"cls": "FridgeBottomFreezer"
|
| 416 |
+
},
|
| 417 |
+
"fridge_1_housing_left_group_1": {
|
| 418 |
+
"cls": "HousingCabinet"
|
| 419 |
+
},
|
| 420 |
+
"fridge_cabinet_left_group_1": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"cab_1_left_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"toaster_oven_left_group_1": {
|
| 427 |
+
"cls": "ToasterOven"
|
| 428 |
+
},
|
| 429 |
+
"box_right_group_1": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"stack_1_right_group_1_base": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
+
},
|
| 435 |
+
"stack_1_right_group_1_1": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_1_right_group_1_2": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_1_right_group_1_3": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_2_right_group_1_base": {
|
| 445 |
+
"cls": "Box"
|
| 446 |
+
},
|
| 447 |
+
"stack_2_right_group_1_1": {
|
| 448 |
+
"cls": "Drawer"
|
| 449 |
+
},
|
| 450 |
+
"stack_2_right_group_1_2": {
|
| 451 |
+
"cls": "Drawer"
|
| 452 |
+
},
|
| 453 |
+
"stack_2_right_group_1_3": {
|
| 454 |
+
"cls": "Drawer"
|
| 455 |
+
},
|
| 456 |
+
"stack_3_right_group_1_base": {
|
| 457 |
+
"cls": "Box"
|
| 458 |
+
},
|
| 459 |
+
"stack_3_right_group_1_1": {
|
| 460 |
+
"cls": "HingeCabinet"
|
| 461 |
+
},
|
| 462 |
+
"dishwasher_1_right_group_1": {
|
| 463 |
+
"cls": "Dishwasher"
|
| 464 |
+
},
|
| 465 |
+
"stack_4_right_group_1_base": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"stack_4_right_group_1_1": {
|
| 469 |
+
"cls": "Drawer"
|
| 470 |
+
},
|
| 471 |
+
"stack_4_right_group_1_2": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
},
|
| 474 |
+
"stack_4_right_group_1_3": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"sink_1_right_group_1": {
|
| 478 |
+
"cls": "Sink"
|
| 479 |
+
},
|
| 480 |
+
"counter_1_right_group_1": {
|
| 481 |
+
"cls": "Counter"
|
| 482 |
+
},
|
| 483 |
+
"cab_1_right_group_1": {
|
| 484 |
+
"cls": "OpenCabinet"
|
| 485 |
+
},
|
| 486 |
+
"cab_2_right_group_1": {
|
| 487 |
+
"cls": "OpenCabinet"
|
| 488 |
+
},
|
| 489 |
+
"island_island_group_1": {
|
| 490 |
+
"cls": "Counter"
|
| 491 |
+
},
|
| 492 |
+
"stack_1_island_group_1_base": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"stack_1_island_group_1_1": {
|
| 496 |
+
"cls": "Drawer"
|
| 497 |
+
},
|
| 498 |
+
"stack_1_island_group_1_2": {
|
| 499 |
+
"cls": "Drawer"
|
| 500 |
+
},
|
| 501 |
+
"stack_2_island_group_1_base": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"stack_2_island_group_1_1": {
|
| 505 |
+
"cls": "Drawer"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_island_group_1_2": {
|
| 508 |
+
"cls": "Drawer"
|
| 509 |
+
},
|
| 510 |
+
"stack_3_island_group_1_base": {
|
| 511 |
+
"cls": "Box"
|
| 512 |
+
},
|
| 513 |
+
"stack_3_island_group_1_1": {
|
| 514 |
+
"cls": "Drawer"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_island_group_1_2": {
|
| 517 |
+
"cls": "Drawer"
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"gen_textures": {},
|
| 521 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 522 |
+
"fixture_refs": {
|
| 523 |
+
"cabinet": "cab_3_main_group_1",
|
| 524 |
+
"drawer": "stack_2_right_group_1_3",
|
| 525 |
+
"counter": "counter_1_main_group_1"
|
| 526 |
+
},
|
| 527 |
+
"cam_configs": {
|
| 528 |
+
"robot0_agentview_center": {
|
| 529 |
+
"pos": [
|
| 530 |
+
-0.6,
|
| 531 |
+
0.0,
|
| 532 |
+
1.15
|
| 533 |
+
],
|
| 534 |
+
"quat": [
|
| 535 |
+
0.636945903301239,
|
| 536 |
+
0.3325185477733612,
|
| 537 |
+
-0.3199238181114197,
|
| 538 |
+
-0.6175596117973328
|
| 539 |
+
],
|
| 540 |
+
"parent_body": "mobilebase0_support"
|
| 541 |
+
},
|
| 542 |
+
"robot0_agentview_left": {
|
| 543 |
+
"pos": [
|
| 544 |
+
-0.5,
|
| 545 |
+
0.35,
|
| 546 |
+
1.05
|
| 547 |
+
],
|
| 548 |
+
"quat": [
|
| 549 |
+
0.55623853,
|
| 550 |
+
0.29935253,
|
| 551 |
+
-0.37678665,
|
| 552 |
+
-0.6775092
|
| 553 |
+
],
|
| 554 |
+
"camera_attribs": {
|
| 555 |
+
"fovy": "60"
|
| 556 |
+
},
|
| 557 |
+
"parent_body": "mobilebase0_support"
|
| 558 |
+
},
|
| 559 |
+
"robot0_agentview_right": {
|
| 560 |
+
"pos": [
|
| 561 |
+
-0.5,
|
| 562 |
+
-0.35,
|
| 563 |
+
1.05
|
| 564 |
+
],
|
| 565 |
+
"quat": [
|
| 566 |
+
0.6775091886520386,
|
| 567 |
+
0.3767866790294647,
|
| 568 |
+
-0.2993525564670563,
|
| 569 |
+
-0.55623859167099
|
| 570 |
+
],
|
| 571 |
+
"camera_attribs": {
|
| 572 |
+
"fovy": "60"
|
| 573 |
+
},
|
| 574 |
+
"parent_body": "mobilebase0_support"
|
| 575 |
+
},
|
| 576 |
+
"robot0_frontview": {
|
| 577 |
+
"pos": [
|
| 578 |
+
-0.5,
|
| 579 |
+
0,
|
| 580 |
+
0.95
|
| 581 |
+
],
|
| 582 |
+
"quat": [
|
| 583 |
+
0.6088936924934387,
|
| 584 |
+
0.3814677894115448,
|
| 585 |
+
-0.3673907518386841,
|
| 586 |
+
-0.5905545353889465
|
| 587 |
+
],
|
| 588 |
+
"camera_attribs": {
|
| 589 |
+
"fovy": "60"
|
| 590 |
+
},
|
| 591 |
+
"parent_body": "mobilebase0_support"
|
| 592 |
+
},
|
| 593 |
+
"robot0_eye_in_hand": {
|
| 594 |
+
"pos": [
|
| 595 |
+
0.05,
|
| 596 |
+
0,
|
| 597 |
+
0
|
| 598 |
+
],
|
| 599 |
+
"quat": [
|
| 600 |
+
0,
|
| 601 |
+
0.707107,
|
| 602 |
+
0.707107,
|
| 603 |
+
0
|
| 604 |
+
],
|
| 605 |
+
"parent_body": "robot0_right_hand"
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"init_robot_base_pos": [
|
| 609 |
+
1.512745477734689,
|
| 610 |
+
-0.8024813764232077,
|
| 611 |
+
0.0
|
| 612 |
+
],
|
| 613 |
+
"init_robot_base_ori": [
|
| 614 |
+
0.0,
|
| 615 |
+
0.0,
|
| 616 |
+
1.5707963267948966
|
| 617 |
+
]
|
| 618 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000018/ep_meta.json
ADDED
|
@@ -0,0 +1,540 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 30,
|
| 3 |
+
"style_id": 45,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_left_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.4,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_left_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.4,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_left_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.4,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_left_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.4,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_left_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_left_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"floor_1_room": {
|
| 226 |
+
"cls": "Floor"
|
| 227 |
+
},
|
| 228 |
+
"floor_1_backing_room": {
|
| 229 |
+
"cls": "Floor"
|
| 230 |
+
},
|
| 231 |
+
"wall_accessory_1_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"wall_accessory_2_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"light_switch_1_room": {
|
| 238 |
+
"cls": "WallAccessory"
|
| 239 |
+
},
|
| 240 |
+
"ligh_switch_2_room": {
|
| 241 |
+
"cls": "WallAccessory"
|
| 242 |
+
},
|
| 243 |
+
"light_switch_3_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"light_switch_4_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_3_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_4_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wall_accessory_5_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"window_group_1_room": {
|
| 259 |
+
"cls": "Window"
|
| 260 |
+
},
|
| 261 |
+
"window_group_2_room": {
|
| 262 |
+
"cls": "Window"
|
| 263 |
+
},
|
| 264 |
+
"window_group_3_room": {
|
| 265 |
+
"cls": "Window"
|
| 266 |
+
},
|
| 267 |
+
"stool_1_room": {
|
| 268 |
+
"cls": "Stool"
|
| 269 |
+
},
|
| 270 |
+
"stool_2_room": {
|
| 271 |
+
"cls": "Stool"
|
| 272 |
+
},
|
| 273 |
+
"counter_1_left_group": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"stove_left_group": {
|
| 277 |
+
"cls": "Stove"
|
| 278 |
+
},
|
| 279 |
+
"counter_2_left_group": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_left_group_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_left_group_1": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_left_group_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_left_group_3": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_left_group_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_left_group_1": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_left_group_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_left_group_3": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_left_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_left_group_1": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_left_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_left_group_3": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_4_left_group_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_4_left_group_1": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_left_group_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_left_group_3": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"fridge_left_group": {
|
| 331 |
+
"cls": "FridgeFrenchDoor"
|
| 332 |
+
},
|
| 333 |
+
"fridge_housing_left_group": {
|
| 334 |
+
"cls": "HousingCabinet"
|
| 335 |
+
},
|
| 336 |
+
"cab_1_left_group": {
|
| 337 |
+
"cls": "HingeCabinet"
|
| 338 |
+
},
|
| 339 |
+
"cab_2_left_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"microwave_left_group": {
|
| 343 |
+
"cls": "Microwave"
|
| 344 |
+
},
|
| 345 |
+
"cab_3_left_group": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cab_4_left_group": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"cab_5_left_group": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"cab_6_left_group": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"toaster_oven_left_group": {
|
| 358 |
+
"cls": "ToasterOven"
|
| 359 |
+
},
|
| 360 |
+
"coffee_machine_left_group": {
|
| 361 |
+
"cls": "CoffeeMachine"
|
| 362 |
+
},
|
| 363 |
+
"paper_towel_left_group": {
|
| 364 |
+
"cls": "Accessory"
|
| 365 |
+
},
|
| 366 |
+
"sink_right_group": {
|
| 367 |
+
"cls": "Sink"
|
| 368 |
+
},
|
| 369 |
+
"counter_1_right_group": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"stack_1_right_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_right_group_1": {
|
| 376 |
+
"cls": "SingleCabinet"
|
| 377 |
+
},
|
| 378 |
+
"dishwasher_right_group": {
|
| 379 |
+
"cls": "Dishwasher"
|
| 380 |
+
},
|
| 381 |
+
"stack_2_right_group_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_2_right_group_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_3_right_group_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_3_right_group_1": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_3_right_group_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_4_right_group_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_4_right_group_1": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"box_right_group": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"cab_1_right_group": {
|
| 406 |
+
"cls": "OpenCabinet"
|
| 407 |
+
},
|
| 408 |
+
"cab_2_right_group": {
|
| 409 |
+
"cls": "OpenCabinet"
|
| 410 |
+
},
|
| 411 |
+
"toaster_right_group": {
|
| 412 |
+
"cls": "Toaster"
|
| 413 |
+
},
|
| 414 |
+
"dining_front_group": {
|
| 415 |
+
"cls": "Counter"
|
| 416 |
+
},
|
| 417 |
+
"box_front_group": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"stack_1_front_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_1_front_group_1": {
|
| 424 |
+
"cls": "SingleCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_2_front_group_base": {
|
| 427 |
+
"cls": "Box"
|
| 428 |
+
},
|
| 429 |
+
"stack_2_front_group_1": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_2_front_group_2": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_2_front_group_3": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_2_front_group_4": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
}
|
| 441 |
+
},
|
| 442 |
+
"gen_textures": {},
|
| 443 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 444 |
+
"fixture_refs": {
|
| 445 |
+
"cabinet": "cab_4_left_group",
|
| 446 |
+
"drawer": "stack_2_front_group_4",
|
| 447 |
+
"counter": "counter_2_left_group"
|
| 448 |
+
},
|
| 449 |
+
"cam_configs": {
|
| 450 |
+
"robot0_agentview_center": {
|
| 451 |
+
"pos": [
|
| 452 |
+
-0.6,
|
| 453 |
+
0.0,
|
| 454 |
+
1.15
|
| 455 |
+
],
|
| 456 |
+
"quat": [
|
| 457 |
+
0.636945903301239,
|
| 458 |
+
0.3325185477733612,
|
| 459 |
+
-0.3199238181114197,
|
| 460 |
+
-0.6175596117973328
|
| 461 |
+
],
|
| 462 |
+
"parent_body": "mobilebase0_support"
|
| 463 |
+
},
|
| 464 |
+
"robot0_agentview_left": {
|
| 465 |
+
"pos": [
|
| 466 |
+
-0.5,
|
| 467 |
+
0.35,
|
| 468 |
+
1.05
|
| 469 |
+
],
|
| 470 |
+
"quat": [
|
| 471 |
+
0.55623853,
|
| 472 |
+
0.29935253,
|
| 473 |
+
-0.37678665,
|
| 474 |
+
-0.6775092
|
| 475 |
+
],
|
| 476 |
+
"camera_attribs": {
|
| 477 |
+
"fovy": "60"
|
| 478 |
+
},
|
| 479 |
+
"parent_body": "mobilebase0_support"
|
| 480 |
+
},
|
| 481 |
+
"robot0_agentview_right": {
|
| 482 |
+
"pos": [
|
| 483 |
+
-0.5,
|
| 484 |
+
-0.35,
|
| 485 |
+
1.05
|
| 486 |
+
],
|
| 487 |
+
"quat": [
|
| 488 |
+
0.6775091886520386,
|
| 489 |
+
0.3767866790294647,
|
| 490 |
+
-0.2993525564670563,
|
| 491 |
+
-0.55623859167099
|
| 492 |
+
],
|
| 493 |
+
"camera_attribs": {
|
| 494 |
+
"fovy": "60"
|
| 495 |
+
},
|
| 496 |
+
"parent_body": "mobilebase0_support"
|
| 497 |
+
},
|
| 498 |
+
"robot0_frontview": {
|
| 499 |
+
"pos": [
|
| 500 |
+
-0.5,
|
| 501 |
+
0,
|
| 502 |
+
0.95
|
| 503 |
+
],
|
| 504 |
+
"quat": [
|
| 505 |
+
0.6088936924934387,
|
| 506 |
+
0.3814677894115448,
|
| 507 |
+
-0.3673907518386841,
|
| 508 |
+
-0.5905545353889465
|
| 509 |
+
],
|
| 510 |
+
"camera_attribs": {
|
| 511 |
+
"fovy": "60"
|
| 512 |
+
},
|
| 513 |
+
"parent_body": "mobilebase0_support"
|
| 514 |
+
},
|
| 515 |
+
"robot0_eye_in_hand": {
|
| 516 |
+
"pos": [
|
| 517 |
+
0.05,
|
| 518 |
+
0,
|
| 519 |
+
0
|
| 520 |
+
],
|
| 521 |
+
"quat": [
|
| 522 |
+
0,
|
| 523 |
+
0.707107,
|
| 524 |
+
0.707107,
|
| 525 |
+
0
|
| 526 |
+
],
|
| 527 |
+
"parent_body": "robot0_right_hand"
|
| 528 |
+
}
|
| 529 |
+
},
|
| 530 |
+
"init_robot_base_pos": [
|
| 531 |
+
0.8334240337984444,
|
| 532 |
+
-4.037025800290236,
|
| 533 |
+
0.0
|
| 534 |
+
],
|
| 535 |
+
"init_robot_base_ori": [
|
| 536 |
+
0.0,
|
| 537 |
+
0.0,
|
| 538 |
+
3.1415926193612504
|
| 539 |
+
]
|
| 540 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000024/ep_meta.json
ADDED
|
@@ -0,0 +1,459 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 40,
|
| 3 |
+
"style_id": 23,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.5896,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.5896,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.5896,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.5896,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"floor_1_room": {
|
| 232 |
+
"cls": "Floor"
|
| 233 |
+
},
|
| 234 |
+
"floor_1_backing_room": {
|
| 235 |
+
"cls": "Floor"
|
| 236 |
+
},
|
| 237 |
+
"floor_2_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_2_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"lightswitch_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"wallaccessory.002_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wallaccessory.001_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wallaccessory.003_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"window_group_room": {
|
| 256 |
+
"cls": "Window"
|
| 257 |
+
},
|
| 258 |
+
"counter_corner_1_main_group_1": {
|
| 259 |
+
"cls": "Counter"
|
| 260 |
+
},
|
| 261 |
+
"counter_1_main_group_1": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
+
},
|
| 264 |
+
"hingecabinet_1_main_group_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"singlecabinet_1_main_group_1": {
|
| 268 |
+
"cls": "SingleCabinet"
|
| 269 |
+
},
|
| 270 |
+
"box_1_main_group_1": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_1_main_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_1_main_group_1_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_1_main_group_1_2": {
|
| 280 |
+
"cls": "Drawer"
|
| 281 |
+
},
|
| 282 |
+
"stack_2_main_group_1_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_2_main_group_1_1": {
|
| 286 |
+
"cls": "SingleCabinet"
|
| 287 |
+
},
|
| 288 |
+
"cube_2_main_group_1": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"coffeemachine_main_group_1": {
|
| 292 |
+
"cls": "CoffeeMachine"
|
| 293 |
+
},
|
| 294 |
+
"papertowel_main_group_1": {
|
| 295 |
+
"cls": "Accessory"
|
| 296 |
+
},
|
| 297 |
+
"sink_right_group_1": {
|
| 298 |
+
"cls": "Sink"
|
| 299 |
+
},
|
| 300 |
+
"counter_1_right_group_1": {
|
| 301 |
+
"cls": "Counter"
|
| 302 |
+
},
|
| 303 |
+
"stove_right_group_1": {
|
| 304 |
+
"cls": "Stove"
|
| 305 |
+
},
|
| 306 |
+
"microwave_right_group_1": {
|
| 307 |
+
"cls": "Microwave"
|
| 308 |
+
},
|
| 309 |
+
"micro_cab_right_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"singlecabinet_1_right_group_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"singlecabinet_2_right_group_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"box_1_right_group_1": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_1_right_group_1_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"stack_1_right_group_1_1": {
|
| 325 |
+
"cls": "SingleCabinet"
|
| 326 |
+
},
|
| 327 |
+
"stack_2_right_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_2_right_group_1_1": {
|
| 331 |
+
"cls": "SingleCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_2_right_group_1_2": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_3_right_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_3_right_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"dishwasher_1_right_group_1": {
|
| 343 |
+
"cls": "Dishwasher"
|
| 344 |
+
},
|
| 345 |
+
"box_2_right_group_1": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"toaster_right_group_1": {
|
| 349 |
+
"cls": "Toaster"
|
| 350 |
+
},
|
| 351 |
+
"fridgefrenchdoor_right_group_1": {
|
| 352 |
+
"cls": "FridgeFrenchDoor"
|
| 353 |
+
},
|
| 354 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 355 |
+
"cls": "HousingCabinet"
|
| 356 |
+
},
|
| 357 |
+
"hingecabinet_1_right_group_1": {
|
| 358 |
+
"cls": "HingeCabinet"
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"gen_textures": {},
|
| 362 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 363 |
+
"fixture_refs": {
|
| 364 |
+
"cabinet": "singlecabinet_1_right_group_1",
|
| 365 |
+
"drawer": "stack_2_right_group_1_2",
|
| 366 |
+
"counter": "counter_1_main_group_1"
|
| 367 |
+
},
|
| 368 |
+
"cam_configs": {
|
| 369 |
+
"robot0_agentview_center": {
|
| 370 |
+
"pos": [
|
| 371 |
+
-0.6,
|
| 372 |
+
0.0,
|
| 373 |
+
1.15
|
| 374 |
+
],
|
| 375 |
+
"quat": [
|
| 376 |
+
0.636945903301239,
|
| 377 |
+
0.3325185477733612,
|
| 378 |
+
-0.3199238181114197,
|
| 379 |
+
-0.6175596117973328
|
| 380 |
+
],
|
| 381 |
+
"parent_body": "mobilebase0_support"
|
| 382 |
+
},
|
| 383 |
+
"robot0_agentview_left": {
|
| 384 |
+
"pos": [
|
| 385 |
+
-0.5,
|
| 386 |
+
0.35,
|
| 387 |
+
1.05
|
| 388 |
+
],
|
| 389 |
+
"quat": [
|
| 390 |
+
0.55623853,
|
| 391 |
+
0.29935253,
|
| 392 |
+
-0.37678665,
|
| 393 |
+
-0.6775092
|
| 394 |
+
],
|
| 395 |
+
"camera_attribs": {
|
| 396 |
+
"fovy": "60"
|
| 397 |
+
},
|
| 398 |
+
"parent_body": "mobilebase0_support"
|
| 399 |
+
},
|
| 400 |
+
"robot0_agentview_right": {
|
| 401 |
+
"pos": [
|
| 402 |
+
-0.5,
|
| 403 |
+
-0.35,
|
| 404 |
+
1.05
|
| 405 |
+
],
|
| 406 |
+
"quat": [
|
| 407 |
+
0.6775091886520386,
|
| 408 |
+
0.3767866790294647,
|
| 409 |
+
-0.2993525564670563,
|
| 410 |
+
-0.55623859167099
|
| 411 |
+
],
|
| 412 |
+
"camera_attribs": {
|
| 413 |
+
"fovy": "60"
|
| 414 |
+
},
|
| 415 |
+
"parent_body": "mobilebase0_support"
|
| 416 |
+
},
|
| 417 |
+
"robot0_frontview": {
|
| 418 |
+
"pos": [
|
| 419 |
+
-0.5,
|
| 420 |
+
0,
|
| 421 |
+
0.95
|
| 422 |
+
],
|
| 423 |
+
"quat": [
|
| 424 |
+
0.6088936924934387,
|
| 425 |
+
0.3814677894115448,
|
| 426 |
+
-0.3673907518386841,
|
| 427 |
+
-0.5905545353889465
|
| 428 |
+
],
|
| 429 |
+
"camera_attribs": {
|
| 430 |
+
"fovy": "60"
|
| 431 |
+
},
|
| 432 |
+
"parent_body": "mobilebase0_support"
|
| 433 |
+
},
|
| 434 |
+
"robot0_eye_in_hand": {
|
| 435 |
+
"pos": [
|
| 436 |
+
0.05,
|
| 437 |
+
0,
|
| 438 |
+
0
|
| 439 |
+
],
|
| 440 |
+
"quat": [
|
| 441 |
+
0,
|
| 442 |
+
0.707107,
|
| 443 |
+
0.707107,
|
| 444 |
+
0
|
| 445 |
+
],
|
| 446 |
+
"parent_body": "robot0_right_hand"
|
| 447 |
+
}
|
| 448 |
+
},
|
| 449 |
+
"init_robot_base_pos": [
|
| 450 |
+
2.370963460543259,
|
| 451 |
+
-0.7899894036505857,
|
| 452 |
+
0.0
|
| 453 |
+
],
|
| 454 |
+
"init_robot_base_ori": [
|
| 455 |
+
0.0,
|
| 456 |
+
0.0,
|
| 457 |
+
1.5707963267948966
|
| 458 |
+
]
|
| 459 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000025/ep_meta.json
ADDED
|
@@ -0,0 +1,546 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 48,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "island_island_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
3.292982,
|
| 43 |
+
1.464295
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "island_island_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
3.292982,
|
| 91 |
+
1.464295
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "island_island_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_11/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
3.292982,
|
| 143 |
+
1.464295
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "island_island_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
3.292982,
|
| 195 |
+
1.464295
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"floor_1_room": {
|
| 220 |
+
"cls": "Floor"
|
| 221 |
+
},
|
| 222 |
+
"floor_1_backing_room": {
|
| 223 |
+
"cls": "Floor"
|
| 224 |
+
},
|
| 225 |
+
"lightswitch_5_room": {
|
| 226 |
+
"cls": "WallAccessory"
|
| 227 |
+
},
|
| 228 |
+
"wallaccessory_1_room": {
|
| 229 |
+
"cls": "WallAccessory"
|
| 230 |
+
},
|
| 231 |
+
"wallaccessory_2_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"lightswitch_6_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"wallaccessory_3_room": {
|
| 238 |
+
"cls": "WallAccessory"
|
| 239 |
+
},
|
| 240 |
+
"lightswitch_1_room": {
|
| 241 |
+
"cls": "WallAccessory"
|
| 242 |
+
},
|
| 243 |
+
"lightswitch_2_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"lightswitch_3_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"stool_1_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stool_2_room": {
|
| 253 |
+
"cls": "Stool"
|
| 254 |
+
},
|
| 255 |
+
"stool_3_room": {
|
| 256 |
+
"cls": "Stool"
|
| 257 |
+
},
|
| 258 |
+
"stool_4_room": {
|
| 259 |
+
"cls": "Stool"
|
| 260 |
+
},
|
| 261 |
+
"fridgefrenchdoor_right_group_1": {
|
| 262 |
+
"cls": "FridgeFrenchDoor"
|
| 263 |
+
},
|
| 264 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 265 |
+
"cls": "HousingCabinet"
|
| 266 |
+
},
|
| 267 |
+
"bottom_right_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"bottom_right_group_1_1": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"microwave_right_group_1": {
|
| 274 |
+
"cls": "Microwave"
|
| 275 |
+
},
|
| 276 |
+
"oven_cabinet_right_group_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"hingecabinet_5_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"microwave_housing_right_group_1": {
|
| 283 |
+
"cls": "HousingCabinet"
|
| 284 |
+
},
|
| 285 |
+
"top_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"hingecabinet_4_right_group_1": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
+
"hingecabinet_2_right_group_1": {
|
| 292 |
+
"cls": "HingeCabinet"
|
| 293 |
+
},
|
| 294 |
+
"hingecabinet_3_right_group_1": {
|
| 295 |
+
"cls": "HingeCabinet"
|
| 296 |
+
},
|
| 297 |
+
"opencabinet_right_group_1": {
|
| 298 |
+
"cls": "OpenCabinet"
|
| 299 |
+
},
|
| 300 |
+
"sink_right_group_1": {
|
| 301 |
+
"cls": "Sink"
|
| 302 |
+
},
|
| 303 |
+
"counter_3_right_group_1": {
|
| 304 |
+
"cls": "Counter"
|
| 305 |
+
},
|
| 306 |
+
"stack_04_right_group_1_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_04_right_group_1_1": {
|
| 310 |
+
"cls": "SingleCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_04_right_group_1_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_06_right_group_1_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_06_right_group_1_1": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"stack_06_right_group_1_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_06_right_group_1_3": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_03_right_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_03_right_group_1_1": {
|
| 331 |
+
"cls": "HingeCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_03_right_group_1_2": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_05_right_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_05_right_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_05_right_group_1_2": {
|
| 343 |
+
"cls": "PanelCabinet"
|
| 344 |
+
},
|
| 345 |
+
"cube_2_right_group_1": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"cube_1_right_group_1": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"dishwasher_1_right_group_1": {
|
| 352 |
+
"cls": "Dishwasher"
|
| 353 |
+
},
|
| 354 |
+
"coffee_machine_right_group_1": {
|
| 355 |
+
"cls": "CoffeeMachine"
|
| 356 |
+
},
|
| 357 |
+
"toaster_right_group_1": {
|
| 358 |
+
"cls": "Toaster"
|
| 359 |
+
},
|
| 360 |
+
"counter_1_main_group_1": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"counter_corner_1_main_group_1": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"widestove_main_group_1": {
|
| 367 |
+
"cls": "Stove"
|
| 368 |
+
},
|
| 369 |
+
"stove_hood_main_group_1": {
|
| 370 |
+
"cls": "Hood"
|
| 371 |
+
},
|
| 372 |
+
"counter_2_main_group_1": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"stack_02_main_group_1_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"stack_02_main_group_1_1": {
|
| 379 |
+
"cls": "SingleCabinet"
|
| 380 |
+
},
|
| 381 |
+
"stack_01_main_group_1_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_01_main_group_1_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"hingecabinet_1_main_group_1": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"singlecabinet_1_main_group_1": {
|
| 391 |
+
"cls": "SingleCabinet"
|
| 392 |
+
},
|
| 393 |
+
"cube_4_main_group_1": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"papertowel_main_group_1": {
|
| 397 |
+
"cls": "Accessory"
|
| 398 |
+
},
|
| 399 |
+
"toaster_oven_main_group_1": {
|
| 400 |
+
"cls": "ToasterOven"
|
| 401 |
+
},
|
| 402 |
+
"island_island_group_1": {
|
| 403 |
+
"cls": "Counter"
|
| 404 |
+
},
|
| 405 |
+
"cube_1_island_group_1": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"cube_2_island_group_1": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"cube_3_island_group_1": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_09_island_group_1_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_09_island_group_1_1": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_09_island_group_1_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_09_island_group_1_3": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"stack_08_island_group_1_base": {
|
| 427 |
+
"cls": "Box"
|
| 428 |
+
},
|
| 429 |
+
"stack_08_island_group_1_1": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_08_island_group_1_2": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_08_island_group_1_3": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_07_island_group_1_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_07_island_group_1_1": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_07_island_group_1_2": {
|
| 445 |
+
"cls": "HingeCabinet"
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gen_textures": {},
|
| 449 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 450 |
+
"fixture_refs": {
|
| 451 |
+
"cabinet": "hingecabinet_4_right_group_1",
|
| 452 |
+
"drawer": "stack_09_island_group_1_3",
|
| 453 |
+
"counter": "island_island_group_1"
|
| 454 |
+
},
|
| 455 |
+
"cam_configs": {
|
| 456 |
+
"robot0_agentview_center": {
|
| 457 |
+
"pos": [
|
| 458 |
+
-0.6,
|
| 459 |
+
0.0,
|
| 460 |
+
1.15
|
| 461 |
+
],
|
| 462 |
+
"quat": [
|
| 463 |
+
0.636945903301239,
|
| 464 |
+
0.3325185477733612,
|
| 465 |
+
-0.3199238181114197,
|
| 466 |
+
-0.6175596117973328
|
| 467 |
+
],
|
| 468 |
+
"parent_body": "mobilebase0_support"
|
| 469 |
+
},
|
| 470 |
+
"robot0_agentview_left": {
|
| 471 |
+
"pos": [
|
| 472 |
+
-0.5,
|
| 473 |
+
0.35,
|
| 474 |
+
1.05
|
| 475 |
+
],
|
| 476 |
+
"quat": [
|
| 477 |
+
0.55623853,
|
| 478 |
+
0.29935253,
|
| 479 |
+
-0.37678665,
|
| 480 |
+
-0.6775092
|
| 481 |
+
],
|
| 482 |
+
"camera_attribs": {
|
| 483 |
+
"fovy": "60"
|
| 484 |
+
},
|
| 485 |
+
"parent_body": "mobilebase0_support"
|
| 486 |
+
},
|
| 487 |
+
"robot0_agentview_right": {
|
| 488 |
+
"pos": [
|
| 489 |
+
-0.5,
|
| 490 |
+
-0.35,
|
| 491 |
+
1.05
|
| 492 |
+
],
|
| 493 |
+
"quat": [
|
| 494 |
+
0.6775091886520386,
|
| 495 |
+
0.3767866790294647,
|
| 496 |
+
-0.2993525564670563,
|
| 497 |
+
-0.55623859167099
|
| 498 |
+
],
|
| 499 |
+
"camera_attribs": {
|
| 500 |
+
"fovy": "60"
|
| 501 |
+
},
|
| 502 |
+
"parent_body": "mobilebase0_support"
|
| 503 |
+
},
|
| 504 |
+
"robot0_frontview": {
|
| 505 |
+
"pos": [
|
| 506 |
+
-0.5,
|
| 507 |
+
0,
|
| 508 |
+
0.95
|
| 509 |
+
],
|
| 510 |
+
"quat": [
|
| 511 |
+
0.6088936924934387,
|
| 512 |
+
0.3814677894115448,
|
| 513 |
+
-0.3673907518386841,
|
| 514 |
+
-0.5905545353889465
|
| 515 |
+
],
|
| 516 |
+
"camera_attribs": {
|
| 517 |
+
"fovy": "60"
|
| 518 |
+
},
|
| 519 |
+
"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_eye_in_hand": {
|
| 522 |
+
"pos": [
|
| 523 |
+
0.05,
|
| 524 |
+
0,
|
| 525 |
+
0
|
| 526 |
+
],
|
| 527 |
+
"quat": [
|
| 528 |
+
0,
|
| 529 |
+
0.707107,
|
| 530 |
+
0.707107,
|
| 531 |
+
0
|
| 532 |
+
],
|
| 533 |
+
"parent_body": "robot0_right_hand"
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"init_robot_base_pos": [
|
| 537 |
+
2.3177176977406178,
|
| 538 |
+
-3.897209413970577,
|
| 539 |
+
0.0
|
| 540 |
+
],
|
| 541 |
+
"init_robot_base_ori": [
|
| 542 |
+
0.0,
|
| 543 |
+
0.0,
|
| 544 |
+
3.1412869477002467
|
| 545 |
+
]
|
| 546 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000027/ep_meta.json
ADDED
|
@@ -0,0 +1,525 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 32,
|
| 3 |
+
"style_id": 19,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.1679100934549256,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
-0.5160399532725373,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.1679100934549256,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
-0.5160399532725373,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_15/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.1679100934549256,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
-0.5160399532725373,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.1679100934549256,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
-0.5160399532725373,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"floor_1_room": {
|
| 232 |
+
"cls": "Floor"
|
| 233 |
+
},
|
| 234 |
+
"floor_1_backing_room": {
|
| 235 |
+
"cls": "Floor"
|
| 236 |
+
},
|
| 237 |
+
"floor_2_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_2_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"window_group_room": {
|
| 244 |
+
"cls": "Window"
|
| 245 |
+
},
|
| 246 |
+
"stool_1_room": {
|
| 247 |
+
"cls": "Stool"
|
| 248 |
+
},
|
| 249 |
+
"stool_2_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stool_3_room": {
|
| 253 |
+
"cls": "Stool"
|
| 254 |
+
},
|
| 255 |
+
"sink_main_group_1": {
|
| 256 |
+
"cls": "Sink"
|
| 257 |
+
},
|
| 258 |
+
"counter_1_main_group_1": {
|
| 259 |
+
"cls": "Counter"
|
| 260 |
+
},
|
| 261 |
+
"counter_corner_1_main_group_1": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
+
},
|
| 264 |
+
"opencabinet_1_main_group_1": {
|
| 265 |
+
"cls": "OpenCabinet"
|
| 266 |
+
},
|
| 267 |
+
"stack_1_main_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_1_main_group_1_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"stack_2_main_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_2_main_group_1_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_2_main_group_1_2": {
|
| 280 |
+
"cls": "PanelCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cube_1_main_group_1": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"cube_2_main_group_1": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"cube_3_main_group_1": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"dishwasher_1_main_group_1": {
|
| 292 |
+
"cls": "Dishwasher"
|
| 293 |
+
},
|
| 294 |
+
"knifeblock_main_group_1": {
|
| 295 |
+
"cls": "Accessory"
|
| 296 |
+
},
|
| 297 |
+
"toaster_main_group_1": {
|
| 298 |
+
"cls": "Toaster"
|
| 299 |
+
},
|
| 300 |
+
"counter_1_right_group_1": {
|
| 301 |
+
"cls": "Counter"
|
| 302 |
+
},
|
| 303 |
+
"widestove_right_group_1": {
|
| 304 |
+
"cls": "Stove"
|
| 305 |
+
},
|
| 306 |
+
"widestove_hood_right_group_1": {
|
| 307 |
+
"cls": "Hood"
|
| 308 |
+
},
|
| 309 |
+
"singlecabinet_1_right_group_1": {
|
| 310 |
+
"cls": "SingleCabinet"
|
| 311 |
+
},
|
| 312 |
+
"singlecabinet_2_right_group_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"singlecabinet_3_right_group_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"bottom_right_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"bottom_right_group_1_1": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"microwave_right_group_1": {
|
| 325 |
+
"cls": "Microwave"
|
| 326 |
+
},
|
| 327 |
+
"counter_2_right_group_1": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
+
},
|
| 330 |
+
"fridgesidebyside_right_group_1": {
|
| 331 |
+
"cls": "FridgeSideBySide"
|
| 332 |
+
},
|
| 333 |
+
"fridgesidebyside_housing_right_group_1": {
|
| 334 |
+
"cls": "HousingCabinet"
|
| 335 |
+
},
|
| 336 |
+
"hingecabinet_1_right_group_1": {
|
| 337 |
+
"cls": "HingeCabinet"
|
| 338 |
+
},
|
| 339 |
+
"oven_cabinet_right_group_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"microwave_housing_right_group_1": {
|
| 343 |
+
"cls": "HousingCabinet"
|
| 344 |
+
},
|
| 345 |
+
"top_right_group_1": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cube_1_right_group_1": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"cube_2_right_group_1": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_1_right_group_1_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_right_group_1_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_right_group_1_2": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_2_right_group_1_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_2_right_group_1_1": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_right_group_1_2": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_right_group_1_3": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"coffee_machine_right_group_1": {
|
| 376 |
+
"cls": "CoffeeMachine"
|
| 377 |
+
},
|
| 378 |
+
"island_island_group_1": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"cube_1_island_group_1": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_3_island_group_1_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_3_island_group_1_1": {
|
| 388 |
+
"cls": "PanelCabinet"
|
| 389 |
+
},
|
| 390 |
+
"stack_1_island_group_1_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"stack_1_island_group_1_1": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_1_island_group_1_2": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_1_island_group_1_3": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_4_island_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_4_island_group_1_1": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_2_island_group_1_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_island_group_1_1": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_island_group_1_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_island_group_1_3": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"papertowel_island_group_1": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"plant_island_group_1": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"gen_textures": {},
|
| 428 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 429 |
+
"fixture_refs": {
|
| 430 |
+
"cabinet": "singlecabinet_3_right_group_1",
|
| 431 |
+
"drawer": "stack_1_island_group_1_3",
|
| 432 |
+
"counter": "counter_1_main_group_1"
|
| 433 |
+
},
|
| 434 |
+
"cam_configs": {
|
| 435 |
+
"robot0_agentview_center": {
|
| 436 |
+
"pos": [
|
| 437 |
+
-0.6,
|
| 438 |
+
0.0,
|
| 439 |
+
1.15
|
| 440 |
+
],
|
| 441 |
+
"quat": [
|
| 442 |
+
0.636945903301239,
|
| 443 |
+
0.3325185477733612,
|
| 444 |
+
-0.3199238181114197,
|
| 445 |
+
-0.6175596117973328
|
| 446 |
+
],
|
| 447 |
+
"parent_body": "mobilebase0_support"
|
| 448 |
+
},
|
| 449 |
+
"robot0_agentview_left": {
|
| 450 |
+
"pos": [
|
| 451 |
+
-0.5,
|
| 452 |
+
0.35,
|
| 453 |
+
1.05
|
| 454 |
+
],
|
| 455 |
+
"quat": [
|
| 456 |
+
0.55623853,
|
| 457 |
+
0.29935253,
|
| 458 |
+
-0.37678665,
|
| 459 |
+
-0.6775092
|
| 460 |
+
],
|
| 461 |
+
"camera_attribs": {
|
| 462 |
+
"fovy": "60"
|
| 463 |
+
},
|
| 464 |
+
"parent_body": "mobilebase0_support"
|
| 465 |
+
},
|
| 466 |
+
"robot0_agentview_right": {
|
| 467 |
+
"pos": [
|
| 468 |
+
-0.5,
|
| 469 |
+
-0.35,
|
| 470 |
+
1.05
|
| 471 |
+
],
|
| 472 |
+
"quat": [
|
| 473 |
+
0.6775091886520386,
|
| 474 |
+
0.3767866790294647,
|
| 475 |
+
-0.2993525564670563,
|
| 476 |
+
-0.55623859167099
|
| 477 |
+
],
|
| 478 |
+
"camera_attribs": {
|
| 479 |
+
"fovy": "60"
|
| 480 |
+
},
|
| 481 |
+
"parent_body": "mobilebase0_support"
|
| 482 |
+
},
|
| 483 |
+
"robot0_frontview": {
|
| 484 |
+
"pos": [
|
| 485 |
+
-0.5,
|
| 486 |
+
0,
|
| 487 |
+
0.95
|
| 488 |
+
],
|
| 489 |
+
"quat": [
|
| 490 |
+
0.6088936924934387,
|
| 491 |
+
0.3814677894115448,
|
| 492 |
+
-0.3673907518386841,
|
| 493 |
+
-0.5905545353889465
|
| 494 |
+
],
|
| 495 |
+
"camera_attribs": {
|
| 496 |
+
"fovy": "60"
|
| 497 |
+
},
|
| 498 |
+
"parent_body": "mobilebase0_support"
|
| 499 |
+
},
|
| 500 |
+
"robot0_eye_in_hand": {
|
| 501 |
+
"pos": [
|
| 502 |
+
0.05,
|
| 503 |
+
0,
|
| 504 |
+
0
|
| 505 |
+
],
|
| 506 |
+
"quat": [
|
| 507 |
+
0,
|
| 508 |
+
0.707107,
|
| 509 |
+
0.707107,
|
| 510 |
+
0
|
| 511 |
+
],
|
| 512 |
+
"parent_body": "robot0_right_hand"
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"init_robot_base_pos": [
|
| 516 |
+
2.1841403722971044,
|
| 517 |
+
-0.8275034385009783,
|
| 518 |
+
0.0
|
| 519 |
+
],
|
| 520 |
+
"init_robot_base_ori": [
|
| 521 |
+
0.0,
|
| 522 |
+
0.0,
|
| 523 |
+
1.5707963267948966
|
| 524 |
+
]
|
| 525 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000028/ep_meta.json
ADDED
|
@@ -0,0 +1,570 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 51,
|
| 3 |
+
"style_id": 33,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_5_right_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.382788,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_5_right_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.382788,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_5_right_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_12/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.382788,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_5_right_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.382788,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_2_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_2_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_right_1_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_right_1_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_right_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_right_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"wallaccessory_01_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"wallaccessory_02_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wallaccessory_03_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wallaccessory_04_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory_05_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wallaccessory_06_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wallaccessory_07_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"window_group_1_room": {
|
| 265 |
+
"cls": "Window"
|
| 266 |
+
},
|
| 267 |
+
"window_group_2_room": {
|
| 268 |
+
"cls": "Window"
|
| 269 |
+
},
|
| 270 |
+
"stool_2_room": {
|
| 271 |
+
"cls": "Stool"
|
| 272 |
+
},
|
| 273 |
+
"stool_3_room": {
|
| 274 |
+
"cls": "Stool"
|
| 275 |
+
},
|
| 276 |
+
"stool_1_room": {
|
| 277 |
+
"cls": "Stool"
|
| 278 |
+
},
|
| 279 |
+
"hingecabinet_2_main_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"hingecabinet_5_main_group_1": {
|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
+
"hingecabinet_3_main_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"singlecabinet_1_main_group_1": {
|
| 289 |
+
"cls": "SingleCabinet"
|
| 290 |
+
},
|
| 291 |
+
"cube_2_main_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"hingecabinet_6_main_group_1": {
|
| 295 |
+
"cls": "HingeCabinet"
|
| 296 |
+
},
|
| 297 |
+
"counter_1_main_group_1": {
|
| 298 |
+
"cls": "Counter"
|
| 299 |
+
},
|
| 300 |
+
"sink_main_group_1": {
|
| 301 |
+
"cls": "Sink"
|
| 302 |
+
},
|
| 303 |
+
"counter_2_main_group_1": {
|
| 304 |
+
"cls": "Counter"
|
| 305 |
+
},
|
| 306 |
+
"counter_3_main_group_1": {
|
| 307 |
+
"cls": "Counter"
|
| 308 |
+
},
|
| 309 |
+
"counter_corner_1_main_group_1": {
|
| 310 |
+
"cls": "Counter"
|
| 311 |
+
},
|
| 312 |
+
"stove_main_group_1": {
|
| 313 |
+
"cls": "Stove"
|
| 314 |
+
},
|
| 315 |
+
"microwave_main_group_1": {
|
| 316 |
+
"cls": "Microwave"
|
| 317 |
+
},
|
| 318 |
+
"micro_cab_main_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_01_main_group_1_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"stack_01_main_group_1_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"stack_02_main_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_02_main_group_1_1": {
|
| 331 |
+
"cls": "HingeCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_02_main_group_1_2": {
|
| 334 |
+
"cls": "PanelCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_03_main_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_03_main_group_1_1": {
|
| 340 |
+
"cls": "SingleCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_03_main_group_1_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_04_main_group_1_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_04_main_group_1_1": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_04_main_group_1_2": {
|
| 352 |
+
"cls": "Drawer"
|
| 353 |
+
},
|
| 354 |
+
"stack_05_main_group_1_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_05_main_group_1_1": {
|
| 358 |
+
"cls": "HingeCabinet"
|
| 359 |
+
},
|
| 360 |
+
"stack_05_main_group_1_2": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_06_main_group_1_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_06_main_group_1_1": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"stack_06_main_group_1_2": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_06_main_group_1_3": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"cube_1_main_group_1": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"dishwasher_1_main_group_1": {
|
| 379 |
+
"cls": "Dishwasher"
|
| 380 |
+
},
|
| 381 |
+
"coffee_machine_main_group_1": {
|
| 382 |
+
"cls": "CoffeeMachine"
|
| 383 |
+
},
|
| 384 |
+
"papertowel_main_group_1": {
|
| 385 |
+
"cls": "Accessory"
|
| 386 |
+
},
|
| 387 |
+
"plant_main_group_1": {
|
| 388 |
+
"cls": "Accessory"
|
| 389 |
+
},
|
| 390 |
+
"toaster_main_group_1": {
|
| 391 |
+
"cls": "Toaster"
|
| 392 |
+
},
|
| 393 |
+
"fridgefrenchdoor_main_group_1": {
|
| 394 |
+
"cls": "FridgeFrenchDoor"
|
| 395 |
+
},
|
| 396 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 397 |
+
"cls": "HousingCabinet"
|
| 398 |
+
},
|
| 399 |
+
"hingecabinet_4_main_group_1": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"hingecabinet_1_right_group_1": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
+
},
|
| 405 |
+
"singlecabinet_3_right_group_1": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
+
"counter_4_right_group_1": {
|
| 409 |
+
"cls": "Counter"
|
| 410 |
+
},
|
| 411 |
+
"counter_5_right_group_1": {
|
| 412 |
+
"cls": "Counter"
|
| 413 |
+
},
|
| 414 |
+
"stack_07_right_group_1_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_07_right_group_1_1": {
|
| 418 |
+
"cls": "SingleCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_08_right_group_1_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_08_right_group_1_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_08_right_group_1_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"cube_1_right_group_1": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"toaster_oven_right_group_1": {
|
| 433 |
+
"cls": "ToasterOven"
|
| 434 |
+
},
|
| 435 |
+
"island_island_group_1": {
|
| 436 |
+
"cls": "Counter"
|
| 437 |
+
},
|
| 438 |
+
"stack_09_island_group_1_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_09_island_group_1_1": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_09_island_group_1_2": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_09_island_group_1_3": {
|
| 448 |
+
"cls": "Drawer"
|
| 449 |
+
},
|
| 450 |
+
"stack_11_island_group_1_base": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_11_island_group_1_1": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"stack_11_island_group_1_2": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"stack_10_island_group_1_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_10_island_group_1_1": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
+
},
|
| 465 |
+
"stack_10_island_group_1_2": {
|
| 466 |
+
"cls": "Drawer"
|
| 467 |
+
},
|
| 468 |
+
"cube_1_island_group_1": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
}
|
| 471 |
+
},
|
| 472 |
+
"gen_textures": {},
|
| 473 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 474 |
+
"fixture_refs": {
|
| 475 |
+
"cabinet": "hingecabinet_2_main_group_1",
|
| 476 |
+
"drawer": "stack_11_island_group_1_2",
|
| 477 |
+
"counter": "counter_5_right_group_1"
|
| 478 |
+
},
|
| 479 |
+
"cam_configs": {
|
| 480 |
+
"robot0_agentview_center": {
|
| 481 |
+
"pos": [
|
| 482 |
+
-0.6,
|
| 483 |
+
0.0,
|
| 484 |
+
1.15
|
| 485 |
+
],
|
| 486 |
+
"quat": [
|
| 487 |
+
0.636945903301239,
|
| 488 |
+
0.3325185477733612,
|
| 489 |
+
-0.3199238181114197,
|
| 490 |
+
-0.6175596117973328
|
| 491 |
+
],
|
| 492 |
+
"parent_body": "mobilebase0_support"
|
| 493 |
+
},
|
| 494 |
+
"robot0_agentview_left": {
|
| 495 |
+
"pos": [
|
| 496 |
+
-0.5,
|
| 497 |
+
0.35,
|
| 498 |
+
1.05
|
| 499 |
+
],
|
| 500 |
+
"quat": [
|
| 501 |
+
0.55623853,
|
| 502 |
+
0.29935253,
|
| 503 |
+
-0.37678665,
|
| 504 |
+
-0.6775092
|
| 505 |
+
],
|
| 506 |
+
"camera_attribs": {
|
| 507 |
+
"fovy": "60"
|
| 508 |
+
},
|
| 509 |
+
"parent_body": "mobilebase0_support"
|
| 510 |
+
},
|
| 511 |
+
"robot0_agentview_right": {
|
| 512 |
+
"pos": [
|
| 513 |
+
-0.5,
|
| 514 |
+
-0.35,
|
| 515 |
+
1.05
|
| 516 |
+
],
|
| 517 |
+
"quat": [
|
| 518 |
+
0.6775091886520386,
|
| 519 |
+
0.3767866790294647,
|
| 520 |
+
-0.2993525564670563,
|
| 521 |
+
-0.55623859167099
|
| 522 |
+
],
|
| 523 |
+
"camera_attribs": {
|
| 524 |
+
"fovy": "60"
|
| 525 |
+
},
|
| 526 |
+
"parent_body": "mobilebase0_support"
|
| 527 |
+
},
|
| 528 |
+
"robot0_frontview": {
|
| 529 |
+
"pos": [
|
| 530 |
+
-0.5,
|
| 531 |
+
0,
|
| 532 |
+
0.95
|
| 533 |
+
],
|
| 534 |
+
"quat": [
|
| 535 |
+
0.6088936924934387,
|
| 536 |
+
0.3814677894115448,
|
| 537 |
+
-0.3673907518386841,
|
| 538 |
+
-0.5905545353889465
|
| 539 |
+
],
|
| 540 |
+
"camera_attribs": {
|
| 541 |
+
"fovy": "60"
|
| 542 |
+
},
|
| 543 |
+
"parent_body": "mobilebase0_support"
|
| 544 |
+
},
|
| 545 |
+
"robot0_eye_in_hand": {
|
| 546 |
+
"pos": [
|
| 547 |
+
0.05,
|
| 548 |
+
0,
|
| 549 |
+
0
|
| 550 |
+
],
|
| 551 |
+
"quat": [
|
| 552 |
+
0,
|
| 553 |
+
0.707107,
|
| 554 |
+
0.707107,
|
| 555 |
+
0
|
| 556 |
+
],
|
| 557 |
+
"parent_body": "robot0_right_hand"
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"init_robot_base_pos": [
|
| 561 |
+
7.2594906341313825,
|
| 562 |
+
-3.7921602951461817,
|
| 563 |
+
0.0
|
| 564 |
+
],
|
| 565 |
+
"init_robot_base_ori": [
|
| 566 |
+
0.0,
|
| 567 |
+
0.0,
|
| 568 |
+
-0.0001513629834557495
|
| 569 |
+
]
|
| 570 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000033/ep_meta.json
ADDED
|
@@ -0,0 +1,558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 27,
|
| 3 |
+
"style_id": 34,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_front_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
0.989,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_front_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
0.989,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_front_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
0.989,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_front_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
0.989,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"floor_1_room": {
|
| 232 |
+
"cls": "Floor"
|
| 233 |
+
},
|
| 234 |
+
"floor_1_backing_room": {
|
| 235 |
+
"cls": "Floor"
|
| 236 |
+
},
|
| 237 |
+
"floor_2_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_2_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"wall_accessory_1_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"wall_accessory_2_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_3_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_4_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"light_switch_1_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"window_group_1_room": {
|
| 259 |
+
"cls": "Window"
|
| 260 |
+
},
|
| 261 |
+
"window_group_2_room": {
|
| 262 |
+
"cls": "Window"
|
| 263 |
+
},
|
| 264 |
+
"window_group_3_room": {
|
| 265 |
+
"cls": "Window"
|
| 266 |
+
},
|
| 267 |
+
"window_group_4_room": {
|
| 268 |
+
"cls": "Window"
|
| 269 |
+
},
|
| 270 |
+
"stool_1_room": {
|
| 271 |
+
"cls": "Stool"
|
| 272 |
+
},
|
| 273 |
+
"stool_2_room": {
|
| 274 |
+
"cls": "Stool"
|
| 275 |
+
},
|
| 276 |
+
"stool_3_room": {
|
| 277 |
+
"cls": "Stool"
|
| 278 |
+
},
|
| 279 |
+
"counter_corner_main_group": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"sink_1_main_group": {
|
| 283 |
+
"cls": "Sink"
|
| 284 |
+
},
|
| 285 |
+
"counter_1_main_group": {
|
| 286 |
+
"cls": "Counter"
|
| 287 |
+
},
|
| 288 |
+
"box_main_group": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_main_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_main_group_1": {
|
| 295 |
+
"cls": "HingeCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_main_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_main_group_1": {
|
| 301 |
+
"cls": "SingleCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_3_main_group_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_main_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_main_group_2": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_main_group_3": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_4_main_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_4_main_group_1": {
|
| 319 |
+
"cls": "SingleCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_4_main_group_2": {
|
| 322 |
+
"cls": "SingleCabinet"
|
| 323 |
+
},
|
| 324 |
+
"bottom_main_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"bottom_main_group_1": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"middle_main_group": {
|
| 331 |
+
"cls": "HingeCabinet"
|
| 332 |
+
},
|
| 333 |
+
"microwave_main_group": {
|
| 334 |
+
"cls": "Microwave"
|
| 335 |
+
},
|
| 336 |
+
"microwave_housing_main_group": {
|
| 337 |
+
"cls": "HousingCabinet"
|
| 338 |
+
},
|
| 339 |
+
"top_main_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"cab_1_main_group": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"cab_2_main_group": {
|
| 346 |
+
"cls": "SingleCabinet"
|
| 347 |
+
},
|
| 348 |
+
"toaster_main_group": {
|
| 349 |
+
"cls": "Toaster"
|
| 350 |
+
},
|
| 351 |
+
"paper_towel_main_group": {
|
| 352 |
+
"cls": "Accessory"
|
| 353 |
+
},
|
| 354 |
+
"counter_1_left_group": {
|
| 355 |
+
"cls": "Counter"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_left_group_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_left_group_1": {
|
| 361 |
+
"cls": "SingleCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_1_left_group_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_2_left_group_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_left_group_1": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_left_group_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_2_left_group_3": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"dishwasher_left_group": {
|
| 379 |
+
"cls": "Dishwasher"
|
| 380 |
+
},
|
| 381 |
+
"box_left_group": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"fridge_left_group": {
|
| 385 |
+
"cls": "FridgeBottomFreezer"
|
| 386 |
+
},
|
| 387 |
+
"fridge_housing_left_group": {
|
| 388 |
+
"cls": "HousingCabinet"
|
| 389 |
+
},
|
| 390 |
+
"fridge_top_left_group": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"cab_1_left_group": {
|
| 394 |
+
"cls": "HingeCabinet"
|
| 395 |
+
},
|
| 396 |
+
"coffee_machine_left_group": {
|
| 397 |
+
"cls": "CoffeeMachine"
|
| 398 |
+
},
|
| 399 |
+
"toaster_oven_left_group": {
|
| 400 |
+
"cls": "ToasterOven"
|
| 401 |
+
},
|
| 402 |
+
"counter_1_front_group": {
|
| 403 |
+
"cls": "Counter"
|
| 404 |
+
},
|
| 405 |
+
"stove_front_group": {
|
| 406 |
+
"cls": "Stove"
|
| 407 |
+
},
|
| 408 |
+
"counter_2_front_group": {
|
| 409 |
+
"cls": "Counter"
|
| 410 |
+
},
|
| 411 |
+
"counter_3_front_group": {
|
| 412 |
+
"cls": "Counter"
|
| 413 |
+
},
|
| 414 |
+
"counter_4_front_group": {
|
| 415 |
+
"cls": "Counter"
|
| 416 |
+
},
|
| 417 |
+
"counter_5_front_group": {
|
| 418 |
+
"cls": "Counter"
|
| 419 |
+
},
|
| 420 |
+
"stack_1_front_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_1_front_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_1_front_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_2_front_group_base": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"stack_2_front_group_1": {
|
| 433 |
+
"cls": "SingleCabinet"
|
| 434 |
+
},
|
| 435 |
+
"stack_2_front_group_2": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_3_front_group_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_3_front_group_1": {
|
| 442 |
+
"cls": "SingleCabinet"
|
| 443 |
+
},
|
| 444 |
+
"stack_3_front_group_2": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"box_1_front_group": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"box_2_front_group": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"box_3_front_group": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"hood_front_group": {
|
| 457 |
+
"cls": "Hood"
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"gen_textures": {},
|
| 461 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 462 |
+
"fixture_refs": {
|
| 463 |
+
"cabinet": "cab_2_main_group",
|
| 464 |
+
"drawer": "stack_2_left_group_3",
|
| 465 |
+
"counter": "counter_1_front_group"
|
| 466 |
+
},
|
| 467 |
+
"cam_configs": {
|
| 468 |
+
"robot0_agentview_center": {
|
| 469 |
+
"pos": [
|
| 470 |
+
-0.6,
|
| 471 |
+
0.0,
|
| 472 |
+
1.15
|
| 473 |
+
],
|
| 474 |
+
"quat": [
|
| 475 |
+
0.636945903301239,
|
| 476 |
+
0.3325185477733612,
|
| 477 |
+
-0.3199238181114197,
|
| 478 |
+
-0.6175596117973328
|
| 479 |
+
],
|
| 480 |
+
"parent_body": "mobilebase0_support"
|
| 481 |
+
},
|
| 482 |
+
"robot0_agentview_left": {
|
| 483 |
+
"pos": [
|
| 484 |
+
-0.5,
|
| 485 |
+
0.35,
|
| 486 |
+
1.05
|
| 487 |
+
],
|
| 488 |
+
"quat": [
|
| 489 |
+
0.55623853,
|
| 490 |
+
0.29935253,
|
| 491 |
+
-0.37678665,
|
| 492 |
+
-0.6775092
|
| 493 |
+
],
|
| 494 |
+
"camera_attribs": {
|
| 495 |
+
"fovy": "60"
|
| 496 |
+
},
|
| 497 |
+
"parent_body": "mobilebase0_support"
|
| 498 |
+
},
|
| 499 |
+
"robot0_agentview_right": {
|
| 500 |
+
"pos": [
|
| 501 |
+
-0.5,
|
| 502 |
+
-0.35,
|
| 503 |
+
1.05
|
| 504 |
+
],
|
| 505 |
+
"quat": [
|
| 506 |
+
0.6775091886520386,
|
| 507 |
+
0.3767866790294647,
|
| 508 |
+
-0.2993525564670563,
|
| 509 |
+
-0.55623859167099
|
| 510 |
+
],
|
| 511 |
+
"camera_attribs": {
|
| 512 |
+
"fovy": "60"
|
| 513 |
+
},
|
| 514 |
+
"parent_body": "mobilebase0_support"
|
| 515 |
+
},
|
| 516 |
+
"robot0_frontview": {
|
| 517 |
+
"pos": [
|
| 518 |
+
-0.5,
|
| 519 |
+
0,
|
| 520 |
+
0.95
|
| 521 |
+
],
|
| 522 |
+
"quat": [
|
| 523 |
+
0.6088936924934387,
|
| 524 |
+
0.3814677894115448,
|
| 525 |
+
-0.3673907518386841,
|
| 526 |
+
-0.5905545353889465
|
| 527 |
+
],
|
| 528 |
+
"camera_attribs": {
|
| 529 |
+
"fovy": "60"
|
| 530 |
+
},
|
| 531 |
+
"parent_body": "mobilebase0_support"
|
| 532 |
+
},
|
| 533 |
+
"robot0_eye_in_hand": {
|
| 534 |
+
"pos": [
|
| 535 |
+
0.05,
|
| 536 |
+
0,
|
| 537 |
+
0
|
| 538 |
+
],
|
| 539 |
+
"quat": [
|
| 540 |
+
0,
|
| 541 |
+
0.707107,
|
| 542 |
+
0.707107,
|
| 543 |
+
0
|
| 544 |
+
],
|
| 545 |
+
"parent_body": "robot0_right_hand"
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"init_robot_base_pos": [
|
| 549 |
+
4.0869595981345785,
|
| 550 |
+
-2.0735449362330356,
|
| 551 |
+
0.0
|
| 552 |
+
],
|
| 553 |
+
"init_robot_base_ori": [
|
| 554 |
+
0.0,
|
| 555 |
+
0.0,
|
| 556 |
+
-1.57079623937212
|
| 557 |
+
]
|
| 558 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000037/ep_meta.json
ADDED
|
@@ -0,0 +1,489 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 52,
|
| 3 |
+
"style_id": 51,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_left_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.009,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_left_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.009,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_left_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.009,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_left_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_13/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.009,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_left_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_left_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_front_1.001_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_front_1.001_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_front_2.002_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_front_2.002_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_front_3.003_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_front_3.003_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"floor_1_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_1_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"wallaccessory_4_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wallaccessory_3_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory_2_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"cube_4_main_group_1": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"cube_5_main_group_1": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"hingecabinet_2_main_group_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"singlecabinet_2_main_group_1": {
|
| 268 |
+
"cls": "SingleCabinet"
|
| 269 |
+
},
|
| 270 |
+
"hingecabinet_1_main_group_1": {
|
| 271 |
+
"cls": "HingeCabinet"
|
| 272 |
+
},
|
| 273 |
+
"counter_corner_1_main_group_1": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"counter_corner_2_main_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"counter_2_main_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"counter_3_main_group_1": {
|
| 283 |
+
"cls": "Counter"
|
| 284 |
+
},
|
| 285 |
+
"stove_main_group_1": {
|
| 286 |
+
"cls": "Stove"
|
| 287 |
+
},
|
| 288 |
+
"stack_04_main_group_1_base": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"stack_04_main_group_1_1": {
|
| 292 |
+
"cls": "SingleCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_03_main_group_1_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_03_main_group_1_1": {
|
| 298 |
+
"cls": "SingleCabinet"
|
| 299 |
+
},
|
| 300 |
+
"coffee_machine_main_group_1": {
|
| 301 |
+
"cls": "CoffeeMachine"
|
| 302 |
+
},
|
| 303 |
+
"papertowel_main_group_1": {
|
| 304 |
+
"cls": "Accessory"
|
| 305 |
+
},
|
| 306 |
+
"hingecabinet_3_right_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"hingecabinet_4_right_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"hingecabinet_5_right_group_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"sink_right_group_1": {
|
| 316 |
+
"cls": "Sink"
|
| 317 |
+
},
|
| 318 |
+
"counter_4_right_group_1": {
|
| 319 |
+
"cls": "Counter"
|
| 320 |
+
},
|
| 321 |
+
"cube_1_right_group_1": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"stack_2_right_group_1_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_2_right_group_1_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_2_right_group_1_2": {
|
| 331 |
+
"cls": "PanelCabinet"
|
| 332 |
+
},
|
| 333 |
+
"dishwasher_1_right_group_1": {
|
| 334 |
+
"cls": "Dishwasher"
|
| 335 |
+
},
|
| 336 |
+
"cube_2_right_group_1": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_01_right_group_1_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_01_right_group_1_1": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_01_right_group_1_2": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_01_right_group_1_3": {
|
| 349 |
+
"cls": "Drawer"
|
| 350 |
+
},
|
| 351 |
+
"toaster_right_group_1": {
|
| 352 |
+
"cls": "Toaster"
|
| 353 |
+
},
|
| 354 |
+
"counter_1_left_group_1": {
|
| 355 |
+
"cls": "Counter"
|
| 356 |
+
},
|
| 357 |
+
"stack_05_left_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_05_left_group_1_1": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_05_left_group_1_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_05_left_group_1_3": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"cube_1_left_group_1": {
|
| 370 |
+
"cls": "Box"
|
| 371 |
+
},
|
| 372 |
+
"fridgebottomfreezer_left_group_1": {
|
| 373 |
+
"cls": "FridgeBottomFreezer"
|
| 374 |
+
},
|
| 375 |
+
"fridgebottomfreezer_housing_left_group_1": {
|
| 376 |
+
"cls": "HousingCabinet"
|
| 377 |
+
},
|
| 378 |
+
"hingecabinet_5_left_group_1": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"singlecabinet_1_left_group_1": {
|
| 382 |
+
"cls": "SingleCabinet"
|
| 383 |
+
},
|
| 384 |
+
"microwave_left_group_1": {
|
| 385 |
+
"cls": "Microwave"
|
| 386 |
+
},
|
| 387 |
+
"cab_micro_left_group_1": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"gen_textures": {},
|
| 392 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 393 |
+
"fixture_refs": {
|
| 394 |
+
"cabinet": "hingecabinet_3_right_group_1",
|
| 395 |
+
"drawer": "stack_05_left_group_1_3",
|
| 396 |
+
"counter": "counter_1_left_group_1"
|
| 397 |
+
},
|
| 398 |
+
"cam_configs": {
|
| 399 |
+
"robot0_agentview_center": {
|
| 400 |
+
"pos": [
|
| 401 |
+
-0.6,
|
| 402 |
+
0.0,
|
| 403 |
+
1.15
|
| 404 |
+
],
|
| 405 |
+
"quat": [
|
| 406 |
+
0.636945903301239,
|
| 407 |
+
0.3325185477733612,
|
| 408 |
+
-0.3199238181114197,
|
| 409 |
+
-0.6175596117973328
|
| 410 |
+
],
|
| 411 |
+
"parent_body": "mobilebase0_support"
|
| 412 |
+
},
|
| 413 |
+
"robot0_agentview_left": {
|
| 414 |
+
"pos": [
|
| 415 |
+
-0.5,
|
| 416 |
+
0.35,
|
| 417 |
+
1.05
|
| 418 |
+
],
|
| 419 |
+
"quat": [
|
| 420 |
+
0.55623853,
|
| 421 |
+
0.29935253,
|
| 422 |
+
-0.37678665,
|
| 423 |
+
-0.6775092
|
| 424 |
+
],
|
| 425 |
+
"camera_attribs": {
|
| 426 |
+
"fovy": "60"
|
| 427 |
+
},
|
| 428 |
+
"parent_body": "mobilebase0_support"
|
| 429 |
+
},
|
| 430 |
+
"robot0_agentview_right": {
|
| 431 |
+
"pos": [
|
| 432 |
+
-0.5,
|
| 433 |
+
-0.35,
|
| 434 |
+
1.05
|
| 435 |
+
],
|
| 436 |
+
"quat": [
|
| 437 |
+
0.6775091886520386,
|
| 438 |
+
0.3767866790294647,
|
| 439 |
+
-0.2993525564670563,
|
| 440 |
+
-0.55623859167099
|
| 441 |
+
],
|
| 442 |
+
"camera_attribs": {
|
| 443 |
+
"fovy": "60"
|
| 444 |
+
},
|
| 445 |
+
"parent_body": "mobilebase0_support"
|
| 446 |
+
},
|
| 447 |
+
"robot0_frontview": {
|
| 448 |
+
"pos": [
|
| 449 |
+
-0.5,
|
| 450 |
+
0,
|
| 451 |
+
0.95
|
| 452 |
+
],
|
| 453 |
+
"quat": [
|
| 454 |
+
0.6088936924934387,
|
| 455 |
+
0.3814677894115448,
|
| 456 |
+
-0.3673907518386841,
|
| 457 |
+
-0.5905545353889465
|
| 458 |
+
],
|
| 459 |
+
"camera_attribs": {
|
| 460 |
+
"fovy": "60"
|
| 461 |
+
},
|
| 462 |
+
"parent_body": "mobilebase0_support"
|
| 463 |
+
},
|
| 464 |
+
"robot0_eye_in_hand": {
|
| 465 |
+
"pos": [
|
| 466 |
+
0.05,
|
| 467 |
+
0,
|
| 468 |
+
0
|
| 469 |
+
],
|
| 470 |
+
"quat": [
|
| 471 |
+
0,
|
| 472 |
+
0.707107,
|
| 473 |
+
0.707107,
|
| 474 |
+
0
|
| 475 |
+
],
|
| 476 |
+
"parent_body": "robot0_right_hand"
|
| 477 |
+
}
|
| 478 |
+
},
|
| 479 |
+
"init_robot_base_pos": [
|
| 480 |
+
0.9937087797756778,
|
| 481 |
+
-0.9794395120832298,
|
| 482 |
+
0.0
|
| 483 |
+
],
|
| 484 |
+
"init_robot_base_ori": [
|
| 485 |
+
0.0,
|
| 486 |
+
0.0,
|
| 487 |
+
3.1414412336089432
|
| 488 |
+
]
|
| 489 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000048/ep_meta.json
ADDED
|
@@ -0,0 +1,561 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 31,
|
| 3 |
+
"style_id": 36,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "island_island_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.6922084659761802,
|
| 43 |
+
1.3
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
1.2038772670119098,
|
| 47 |
+
2.0816681711721685e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_1"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "island_island_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.6922084659761802,
|
| 91 |
+
1.3
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
1.2038772670119098,
|
| 95 |
+
2.0816681711721685e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_1"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "island_island_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.6922084659761802,
|
| 143 |
+
1.3
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
1.2038772670119098,
|
| 147 |
+
2.0816681711721685e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_1"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "island_island_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.6922084659761802,
|
| 195 |
+
1.3
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
1.2038772670119098,
|
| 199 |
+
2.0816681711721685e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_1"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_main_2_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_main_2_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_1_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_1_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_main_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_main_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"floor_2_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_2_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"stool_3_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stool_2_room": {
|
| 253 |
+
"cls": "Stool"
|
| 254 |
+
},
|
| 255 |
+
"stool_1_room": {
|
| 256 |
+
"cls": "Stool"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_main_group_1_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_1_main_group_1_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"fridgebottomfreezer_main_group_1": {
|
| 265 |
+
"cls": "FridgeBottomFreezer"
|
| 266 |
+
},
|
| 267 |
+
"fridgebottomfreezer_housing_main_group_1": {
|
| 268 |
+
"cls": "HousingCabinet"
|
| 269 |
+
},
|
| 270 |
+
"bottom_main_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"bottom_main_group_1_1": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"oven_main_group_1": {
|
| 277 |
+
"cls": "Oven"
|
| 278 |
+
},
|
| 279 |
+
"microwave_main_group_1": {
|
| 280 |
+
"cls": "Microwave"
|
| 281 |
+
},
|
| 282 |
+
"hingecabinet_2_main_group_1": {
|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
+
"hingecabinet_3_main_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"cube_2_main_group_1": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"cube_3_main_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"cube_1_main_group_1": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"oven_housing_main_group_1": {
|
| 298 |
+
"cls": "HousingCabinet"
|
| 299 |
+
},
|
| 300 |
+
"hingecabinet_1_main_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"microwave_housing_main_group_1": {
|
| 304 |
+
"cls": "HousingCabinet"
|
| 305 |
+
},
|
| 306 |
+
"top_main_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stovetop_right_group_1": {
|
| 310 |
+
"cls": "Stovetop"
|
| 311 |
+
},
|
| 312 |
+
"counter_1_right_group_1": {
|
| 313 |
+
"cls": "Counter"
|
| 314 |
+
},
|
| 315 |
+
"hingecabinet_1_right_group_1": {
|
| 316 |
+
"cls": "HingeCabinet"
|
| 317 |
+
},
|
| 318 |
+
"hingecabinet_2_right_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"hingecabinet_3_right_group_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"hingecabinet_4_right_group_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"hood_right_group_1": {
|
| 328 |
+
"cls": "Hood"
|
| 329 |
+
},
|
| 330 |
+
"stack_2_right_group_1_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_2_right_group_1_1": {
|
| 334 |
+
"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_2_right_group_1_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_1_right_group_1_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_1_right_group_1_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_1_right_group_1_2": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_4_right_group_1_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_4_right_group_1_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"stack_4_right_group_1_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_3_right_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_3_right_group_1_1": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_3_right_group_1_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_3_right_group_1_3": {
|
| 367 |
+
"cls": "PanelCabinet"
|
| 368 |
+
},
|
| 369 |
+
"stack_5_right_group_1_base": {
|
| 370 |
+
"cls": "Box"
|
| 371 |
+
},
|
| 372 |
+
"stack_5_right_group_1_1": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"stack_5_right_group_1_2": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"coffee_machine_right_group_1": {
|
| 379 |
+
"cls": "CoffeeMachine"
|
| 380 |
+
},
|
| 381 |
+
"toaster_right_group_1": {
|
| 382 |
+
"cls": "Toaster"
|
| 383 |
+
},
|
| 384 |
+
"papertowel_right_group_1": {
|
| 385 |
+
"cls": "Accessory"
|
| 386 |
+
},
|
| 387 |
+
"toaster_oven_right_group_1": {
|
| 388 |
+
"cls": "ToasterOven"
|
| 389 |
+
},
|
| 390 |
+
"sink_island_group_1": {
|
| 391 |
+
"cls": "Sink"
|
| 392 |
+
},
|
| 393 |
+
"island_island_group_1": {
|
| 394 |
+
"cls": "Counter"
|
| 395 |
+
},
|
| 396 |
+
"cube_1_island_group_1": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"cube_2_island_group_1": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"cube_3_island_group_1": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"cube_4_island_group_1": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"cube_5_island_group_1": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_island_group_1_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_1_island_group_1_1": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_1_island_group_1_2": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_1_island_group_1_3": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_island_group_1_base": {
|
| 424 |
+
"cls": "Box"
|
| 425 |
+
},
|
| 426 |
+
"stack_2_island_group_1_1": {
|
| 427 |
+
"cls": "HingeCabinet"
|
| 428 |
+
},
|
| 429 |
+
"stack_3_island_group_1_base": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"stack_3_island_group_1_1": {
|
| 433 |
+
"cls": "SingleCabinet"
|
| 434 |
+
},
|
| 435 |
+
"stack_4_island_group_1_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_4_island_group_1_1": {
|
| 439 |
+
"cls": "SingleCabinet"
|
| 440 |
+
},
|
| 441 |
+
"stack_5_island_group_1_base": {
|
| 442 |
+
"cls": "Box"
|
| 443 |
+
},
|
| 444 |
+
"stack_5_island_group_1_1": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_5_island_group_1_2": {
|
| 448 |
+
"cls": "Drawer"
|
| 449 |
+
},
|
| 450 |
+
"stack_5_island_group_1_3": {
|
| 451 |
+
"cls": "Drawer"
|
| 452 |
+
},
|
| 453 |
+
"cube_6_island_group_1": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"cube_7_island_group_1": {
|
| 457 |
+
"cls": "Box"
|
| 458 |
+
},
|
| 459 |
+
"dishwasher_1_island_group_1": {
|
| 460 |
+
"cls": "Dishwasher"
|
| 461 |
+
}
|
| 462 |
+
},
|
| 463 |
+
"gen_textures": {},
|
| 464 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 465 |
+
"fixture_refs": {
|
| 466 |
+
"cabinet": "hingecabinet_2_right_group_1",
|
| 467 |
+
"drawer": "stack_1_island_group_1_3",
|
| 468 |
+
"counter": "island_island_group_1"
|
| 469 |
+
},
|
| 470 |
+
"cam_configs": {
|
| 471 |
+
"robot0_agentview_center": {
|
| 472 |
+
"pos": [
|
| 473 |
+
-0.6,
|
| 474 |
+
0.0,
|
| 475 |
+
1.15
|
| 476 |
+
],
|
| 477 |
+
"quat": [
|
| 478 |
+
0.636945903301239,
|
| 479 |
+
0.3325185477733612,
|
| 480 |
+
-0.3199238181114197,
|
| 481 |
+
-0.6175596117973328
|
| 482 |
+
],
|
| 483 |
+
"parent_body": "mobilebase0_support"
|
| 484 |
+
},
|
| 485 |
+
"robot0_agentview_left": {
|
| 486 |
+
"pos": [
|
| 487 |
+
-0.5,
|
| 488 |
+
0.35,
|
| 489 |
+
1.05
|
| 490 |
+
],
|
| 491 |
+
"quat": [
|
| 492 |
+
0.55623853,
|
| 493 |
+
0.29935253,
|
| 494 |
+
-0.37678665,
|
| 495 |
+
-0.6775092
|
| 496 |
+
],
|
| 497 |
+
"camera_attribs": {
|
| 498 |
+
"fovy": "60"
|
| 499 |
+
},
|
| 500 |
+
"parent_body": "mobilebase0_support"
|
| 501 |
+
},
|
| 502 |
+
"robot0_agentview_right": {
|
| 503 |
+
"pos": [
|
| 504 |
+
-0.5,
|
| 505 |
+
-0.35,
|
| 506 |
+
1.05
|
| 507 |
+
],
|
| 508 |
+
"quat": [
|
| 509 |
+
0.6775091886520386,
|
| 510 |
+
0.3767866790294647,
|
| 511 |
+
-0.2993525564670563,
|
| 512 |
+
-0.55623859167099
|
| 513 |
+
],
|
| 514 |
+
"camera_attribs": {
|
| 515 |
+
"fovy": "60"
|
| 516 |
+
},
|
| 517 |
+
"parent_body": "mobilebase0_support"
|
| 518 |
+
},
|
| 519 |
+
"robot0_frontview": {
|
| 520 |
+
"pos": [
|
| 521 |
+
-0.5,
|
| 522 |
+
0,
|
| 523 |
+
0.95
|
| 524 |
+
],
|
| 525 |
+
"quat": [
|
| 526 |
+
0.6088936924934387,
|
| 527 |
+
0.3814677894115448,
|
| 528 |
+
-0.3673907518386841,
|
| 529 |
+
-0.5905545353889465
|
| 530 |
+
],
|
| 531 |
+
"camera_attribs": {
|
| 532 |
+
"fovy": "60"
|
| 533 |
+
},
|
| 534 |
+
"parent_body": "mobilebase0_support"
|
| 535 |
+
},
|
| 536 |
+
"robot0_eye_in_hand": {
|
| 537 |
+
"pos": [
|
| 538 |
+
0.05,
|
| 539 |
+
0,
|
| 540 |
+
0
|
| 541 |
+
],
|
| 542 |
+
"quat": [
|
| 543 |
+
0,
|
| 544 |
+
0.707107,
|
| 545 |
+
0.707107,
|
| 546 |
+
0
|
| 547 |
+
],
|
| 548 |
+
"parent_body": "robot0_right_hand"
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"init_robot_base_pos": [
|
| 552 |
+
3.101865931164989,
|
| 553 |
+
-3.274506786475375,
|
| 554 |
+
0.0
|
| 555 |
+
],
|
| 556 |
+
"init_robot_base_ori": [
|
| 557 |
+
0.0,
|
| 558 |
+
0.0,
|
| 559 |
+
3.14159329371052
|
| 560 |
+
]
|
| 561 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000049/ep_meta.json
ADDED
|
@@ -0,0 +1,606 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 22,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "dining_dining_area_group_2",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.118,
|
| 43 |
+
0.85
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "dining_dining_area_group_2",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.118,
|
| 91 |
+
0.85
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "dining_dining_area_group_2",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_10/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.118,
|
| 143 |
+
0.85
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "dining_dining_area_group_2",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.118,
|
| 195 |
+
0.85
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_front_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_front_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_left_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_left_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_main_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_main_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_3_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_3_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_main_2_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_main_2_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_right_1_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_right_1_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"wall_right_2_room": {
|
| 244 |
+
"cls": "Wall"
|
| 245 |
+
},
|
| 246 |
+
"wall_right_2_backing_room": {
|
| 247 |
+
"cls": "Wall"
|
| 248 |
+
},
|
| 249 |
+
"wall_front_2_room": {
|
| 250 |
+
"cls": "Wall"
|
| 251 |
+
},
|
| 252 |
+
"wall_front_2_backing_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"wall_main_4_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_main_4_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"floor_1_room": {
|
| 262 |
+
"cls": "Floor"
|
| 263 |
+
},
|
| 264 |
+
"floor_1_backing_room": {
|
| 265 |
+
"cls": "Floor"
|
| 266 |
+
},
|
| 267 |
+
"floor_2_room": {
|
| 268 |
+
"cls": "Floor"
|
| 269 |
+
},
|
| 270 |
+
"floor_2_backing_room": {
|
| 271 |
+
"cls": "Floor"
|
| 272 |
+
},
|
| 273 |
+
"floor_3_room": {
|
| 274 |
+
"cls": "Floor"
|
| 275 |
+
},
|
| 276 |
+
"floor_3_backing_room": {
|
| 277 |
+
"cls": "Floor"
|
| 278 |
+
},
|
| 279 |
+
"floor_4_room": {
|
| 280 |
+
"cls": "Floor"
|
| 281 |
+
},
|
| 282 |
+
"floor_4_backing_room": {
|
| 283 |
+
"cls": "Floor"
|
| 284 |
+
},
|
| 285 |
+
"wall_accessory_1_room": {
|
| 286 |
+
"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
+
"wall_accessory_2_room": {
|
| 289 |
+
"cls": "WallAccessory"
|
| 290 |
+
},
|
| 291 |
+
"wall_accessory_3_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"wall_accessory_4_room": {
|
| 295 |
+
"cls": "WallAccessory"
|
| 296 |
+
},
|
| 297 |
+
"light_switch_1_room": {
|
| 298 |
+
"cls": "WallAccessory"
|
| 299 |
+
},
|
| 300 |
+
"window_group_room": {
|
| 301 |
+
"cls": "Window"
|
| 302 |
+
},
|
| 303 |
+
"stool_1_room": {
|
| 304 |
+
"cls": "Stool"
|
| 305 |
+
},
|
| 306 |
+
"stool_2_room": {
|
| 307 |
+
"cls": "Stool"
|
| 308 |
+
},
|
| 309 |
+
"stool_3_room": {
|
| 310 |
+
"cls": "Stool"
|
| 311 |
+
},
|
| 312 |
+
"stool_4_room": {
|
| 313 |
+
"cls": "Stool"
|
| 314 |
+
},
|
| 315 |
+
"stool_5_room": {
|
| 316 |
+
"cls": "Stool"
|
| 317 |
+
},
|
| 318 |
+
"stool_6_room": {
|
| 319 |
+
"cls": "Stool"
|
| 320 |
+
},
|
| 321 |
+
"sink_1_left_group": {
|
| 322 |
+
"cls": "Sink"
|
| 323 |
+
},
|
| 324 |
+
"counter_1_left_group": {
|
| 325 |
+
"cls": "Counter"
|
| 326 |
+
},
|
| 327 |
+
"stack_1_left_group_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_1_left_group_1": {
|
| 331 |
+
"cls": "SingleCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_1_left_group_2": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_2_left_group_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_2_left_group_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_2_left_group_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"oven_left_group": {
|
| 346 |
+
"cls": "Oven"
|
| 347 |
+
},
|
| 348 |
+
"stack_3_left_group_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_left_group_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"dishwasher_left_group": {
|
| 355 |
+
"cls": "Dishwasher"
|
| 356 |
+
},
|
| 357 |
+
"stack_4_left_group_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_4_left_group_1": {
|
| 361 |
+
"cls": "HingeCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_4_left_group_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"cab_1_left_group": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"cab_2_left_group": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"toaster_left_group": {
|
| 373 |
+
"cls": "Toaster"
|
| 374 |
+
},
|
| 375 |
+
"coffee_machine_left_group": {
|
| 376 |
+
"cls": "CoffeeMachine"
|
| 377 |
+
},
|
| 378 |
+
"paper_towel_left_group": {
|
| 379 |
+
"cls": "Accessory"
|
| 380 |
+
},
|
| 381 |
+
"knife_block_left_group": {
|
| 382 |
+
"cls": "Accessory"
|
| 383 |
+
},
|
| 384 |
+
"fridge_main_group": {
|
| 385 |
+
"cls": "FridgeFrenchDoor"
|
| 386 |
+
},
|
| 387 |
+
"fridge_housing_main_group": {
|
| 388 |
+
"cls": "HousingCabinet"
|
| 389 |
+
},
|
| 390 |
+
"counter_1_main_group": {
|
| 391 |
+
"cls": "Counter"
|
| 392 |
+
},
|
| 393 |
+
"stack_1_main_group_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_1_main_group_1": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_1_main_group_2": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_1_main_group_3": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_2_main_group_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_2_main_group_1": {
|
| 409 |
+
"cls": "HingeCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_main_group_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_main_group_3": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"cab_1_main_group": {
|
| 418 |
+
"cls": "HingeCabinet"
|
| 419 |
+
},
|
| 420 |
+
"cab_2_main_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"cab_3_main_group": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"toaster_oven_main_group": {
|
| 427 |
+
"cls": "ToasterOven"
|
| 428 |
+
},
|
| 429 |
+
"stovetop_dining_area_group_1": {
|
| 430 |
+
"cls": "Stovetop"
|
| 431 |
+
},
|
| 432 |
+
"dining_dining_area_group_1": {
|
| 433 |
+
"cls": "Counter"
|
| 434 |
+
},
|
| 435 |
+
"stack_1_dining_area_group_1_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_1_dining_area_group_1_1": {
|
| 439 |
+
"cls": "SingleCabinet"
|
| 440 |
+
},
|
| 441 |
+
"stack_1_dining_area_group_1_2": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_2_dining_area_group_1_base": {
|
| 445 |
+
"cls": "Box"
|
| 446 |
+
},
|
| 447 |
+
"stack_2_dining_area_group_1_1": {
|
| 448 |
+
"cls": "HingeCabinet"
|
| 449 |
+
},
|
| 450 |
+
"stack_3_dining_area_group_1_base": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_3_dining_area_group_1_1": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"stack_3_dining_area_group_1_2": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"dining_dining_area_group_2": {
|
| 460 |
+
"cls": "Counter"
|
| 461 |
+
},
|
| 462 |
+
"stack_1_dining_area_group_2_base": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"stack_1_dining_area_group_2_1": {
|
| 466 |
+
"cls": "SingleCabinet"
|
| 467 |
+
},
|
| 468 |
+
"stack_1_dining_area_group_2_2": {
|
| 469 |
+
"cls": "Drawer"
|
| 470 |
+
},
|
| 471 |
+
"stack_2_dining_area_group_2_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_2_dining_area_group_2_1": {
|
| 475 |
+
"cls": "HingeCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_2_dining_area_group_2_2": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"stack_3_dining_area_group_2_base": {
|
| 481 |
+
"cls": "Box"
|
| 482 |
+
},
|
| 483 |
+
"stack_3_dining_area_group_2_1": {
|
| 484 |
+
"cls": "SingleCabinet"
|
| 485 |
+
},
|
| 486 |
+
"stack_3_dining_area_group_2_2": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"bottom_front_group_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"bottom_front_group_1": {
|
| 493 |
+
"cls": "Drawer"
|
| 494 |
+
},
|
| 495 |
+
"middle_front_group": {
|
| 496 |
+
"cls": "HingeCabinet"
|
| 497 |
+
},
|
| 498 |
+
"microwave_front_group": {
|
| 499 |
+
"cls": "Microwave"
|
| 500 |
+
},
|
| 501 |
+
"microwave_housing_front_group": {
|
| 502 |
+
"cls": "HousingCabinet"
|
| 503 |
+
},
|
| 504 |
+
"top_front_group": {
|
| 505 |
+
"cls": "HingeCabinet"
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"gen_textures": {},
|
| 509 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 510 |
+
"fixture_refs": {
|
| 511 |
+
"cabinet": "cab_2_left_group",
|
| 512 |
+
"drawer": "stack_1_main_group_3",
|
| 513 |
+
"counter": "dining_dining_area_group_2"
|
| 514 |
+
},
|
| 515 |
+
"cam_configs": {
|
| 516 |
+
"robot0_agentview_center": {
|
| 517 |
+
"pos": [
|
| 518 |
+
-0.6,
|
| 519 |
+
0.0,
|
| 520 |
+
1.15
|
| 521 |
+
],
|
| 522 |
+
"quat": [
|
| 523 |
+
0.636945903301239,
|
| 524 |
+
0.3325185477733612,
|
| 525 |
+
-0.3199238181114197,
|
| 526 |
+
-0.6175596117973328
|
| 527 |
+
],
|
| 528 |
+
"parent_body": "mobilebase0_support"
|
| 529 |
+
},
|
| 530 |
+
"robot0_agentview_left": {
|
| 531 |
+
"pos": [
|
| 532 |
+
-0.5,
|
| 533 |
+
0.35,
|
| 534 |
+
1.05
|
| 535 |
+
],
|
| 536 |
+
"quat": [
|
| 537 |
+
0.55623853,
|
| 538 |
+
0.29935253,
|
| 539 |
+
-0.37678665,
|
| 540 |
+
-0.6775092
|
| 541 |
+
],
|
| 542 |
+
"camera_attribs": {
|
| 543 |
+
"fovy": "60"
|
| 544 |
+
},
|
| 545 |
+
"parent_body": "mobilebase0_support"
|
| 546 |
+
},
|
| 547 |
+
"robot0_agentview_right": {
|
| 548 |
+
"pos": [
|
| 549 |
+
-0.5,
|
| 550 |
+
-0.35,
|
| 551 |
+
1.05
|
| 552 |
+
],
|
| 553 |
+
"quat": [
|
| 554 |
+
0.6775091886520386,
|
| 555 |
+
0.3767866790294647,
|
| 556 |
+
-0.2993525564670563,
|
| 557 |
+
-0.55623859167099
|
| 558 |
+
],
|
| 559 |
+
"camera_attribs": {
|
| 560 |
+
"fovy": "60"
|
| 561 |
+
},
|
| 562 |
+
"parent_body": "mobilebase0_support"
|
| 563 |
+
},
|
| 564 |
+
"robot0_frontview": {
|
| 565 |
+
"pos": [
|
| 566 |
+
-0.5,
|
| 567 |
+
0,
|
| 568 |
+
0.95
|
| 569 |
+
],
|
| 570 |
+
"quat": [
|
| 571 |
+
0.6088936924934387,
|
| 572 |
+
0.3814677894115448,
|
| 573 |
+
-0.3673907518386841,
|
| 574 |
+
-0.5905545353889465
|
| 575 |
+
],
|
| 576 |
+
"camera_attribs": {
|
| 577 |
+
"fovy": "60"
|
| 578 |
+
},
|
| 579 |
+
"parent_body": "mobilebase0_support"
|
| 580 |
+
},
|
| 581 |
+
"robot0_eye_in_hand": {
|
| 582 |
+
"pos": [
|
| 583 |
+
0.05,
|
| 584 |
+
0,
|
| 585 |
+
0
|
| 586 |
+
],
|
| 587 |
+
"quat": [
|
| 588 |
+
0,
|
| 589 |
+
0.707107,
|
| 590 |
+
0.707107,
|
| 591 |
+
0
|
| 592 |
+
],
|
| 593 |
+
"parent_body": "robot0_right_hand"
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"init_robot_base_pos": [
|
| 597 |
+
3.1810798453873828,
|
| 598 |
+
-4.562141465689131,
|
| 599 |
+
0.0
|
| 600 |
+
],
|
| 601 |
+
"init_robot_base_ori": [
|
| 602 |
+
0.0,
|
| 603 |
+
0.0,
|
| 604 |
+
-1.57079623937212
|
| 605 |
+
]
|
| 606 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000053/ep_meta.json
ADDED
|
@@ -0,0 +1,525 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 11,
|
| 3 |
+
"style_id": 43,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "dining_dining_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.15,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "dining_dining_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.15,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "dining_dining_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_19/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.15,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "dining_dining_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.15,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_left_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"floor_2_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_2_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_1_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_2_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"light_switch_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wall_accessory_3_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wall_accessory_4_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"stool_2_room": {
|
| 265 |
+
"cls": "Stool"
|
| 266 |
+
},
|
| 267 |
+
"stool_1_room": {
|
| 268 |
+
"cls": "Stool"
|
| 269 |
+
},
|
| 270 |
+
"counter_corner_main_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"counter_1_main_group": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"stove_1_main_group": {
|
| 277 |
+
"cls": "Stove"
|
| 278 |
+
},
|
| 279 |
+
"counter_2_main_group": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_main_group_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_main_group_1": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_main_group_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_main_group_3": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_main_group_4": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_main_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_main_group_1": {
|
| 301 |
+
"cls": "SingleCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_main_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_main_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_main_group_1": {
|
| 310 |
+
"cls": "SingleCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_main_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_4_main_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_4_main_group_1": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"stack_4_main_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_main_group_3": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_main_group_4": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_5_main_group_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_5_main_group_1": {
|
| 334 |
+
"cls": "SingleCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_5_main_group_2": {
|
| 337 |
+
"cls": "SingleCabinet"
|
| 338 |
+
},
|
| 339 |
+
"cab_1_main_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"microwave_main_group": {
|
| 343 |
+
"cls": "Microwave"
|
| 344 |
+
},
|
| 345 |
+
"cab_2_main_group": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cab_3_main_group": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"counter_stack_main_group_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"counter_stack_main_group_1": {
|
| 355 |
+
"cls": "SingleCabinet"
|
| 356 |
+
},
|
| 357 |
+
"counter_stack_main_group_2": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"counter_stack_main_group_3": {
|
| 361 |
+
"cls": "HingeCabinet"
|
| 362 |
+
},
|
| 363 |
+
"toaster_main_group": {
|
| 364 |
+
"cls": "Toaster"
|
| 365 |
+
},
|
| 366 |
+
"sink_left_group": {
|
| 367 |
+
"cls": "Sink"
|
| 368 |
+
},
|
| 369 |
+
"counter_1_left_group": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"counter_left_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"panel_cab_left_group_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"panel_cab_left_group_1": {
|
| 379 |
+
"cls": "PanelCabinet"
|
| 380 |
+
},
|
| 381 |
+
"dishwasher_left_group": {
|
| 382 |
+
"cls": "Dishwasher"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_left_group_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_1_left_group_1": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"stack_1_left_group_2": {
|
| 391 |
+
"cls": "PanelCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_left_group_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_left_group_1": {
|
| 397 |
+
"cls": "SingleCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_2_left_group_2": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"box_left_group": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"coffee_machine_left_group": {
|
| 406 |
+
"cls": "CoffeeMachine"
|
| 407 |
+
},
|
| 408 |
+
"paper_towel_left_group": {
|
| 409 |
+
"cls": "Accessory"
|
| 410 |
+
},
|
| 411 |
+
"box_right_group": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"fridge_right_group": {
|
| 415 |
+
"cls": "FridgeBottomFreezer"
|
| 416 |
+
},
|
| 417 |
+
"fridge_housing_right_group": {
|
| 418 |
+
"cls": "HousingCabinet"
|
| 419 |
+
},
|
| 420 |
+
"cab_1_right_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"dining_dining_group": {
|
| 424 |
+
"cls": "Counter"
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"gen_textures": {},
|
| 428 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 429 |
+
"fixture_refs": {
|
| 430 |
+
"cabinet": "cab_1_main_group",
|
| 431 |
+
"drawer": "stack_3_main_group_2",
|
| 432 |
+
"counter": "dining_dining_group"
|
| 433 |
+
},
|
| 434 |
+
"cam_configs": {
|
| 435 |
+
"robot0_agentview_center": {
|
| 436 |
+
"pos": [
|
| 437 |
+
-0.6,
|
| 438 |
+
0.0,
|
| 439 |
+
1.15
|
| 440 |
+
],
|
| 441 |
+
"quat": [
|
| 442 |
+
0.636945903301239,
|
| 443 |
+
0.3325185477733612,
|
| 444 |
+
-0.3199238181114197,
|
| 445 |
+
-0.6175596117973328
|
| 446 |
+
],
|
| 447 |
+
"parent_body": "mobilebase0_support"
|
| 448 |
+
},
|
| 449 |
+
"robot0_agentview_left": {
|
| 450 |
+
"pos": [
|
| 451 |
+
-0.5,
|
| 452 |
+
0.35,
|
| 453 |
+
1.05
|
| 454 |
+
],
|
| 455 |
+
"quat": [
|
| 456 |
+
0.55623853,
|
| 457 |
+
0.29935253,
|
| 458 |
+
-0.37678665,
|
| 459 |
+
-0.6775092
|
| 460 |
+
],
|
| 461 |
+
"camera_attribs": {
|
| 462 |
+
"fovy": "60"
|
| 463 |
+
},
|
| 464 |
+
"parent_body": "mobilebase0_support"
|
| 465 |
+
},
|
| 466 |
+
"robot0_agentview_right": {
|
| 467 |
+
"pos": [
|
| 468 |
+
-0.5,
|
| 469 |
+
-0.35,
|
| 470 |
+
1.05
|
| 471 |
+
],
|
| 472 |
+
"quat": [
|
| 473 |
+
0.6775091886520386,
|
| 474 |
+
0.3767866790294647,
|
| 475 |
+
-0.2993525564670563,
|
| 476 |
+
-0.55623859167099
|
| 477 |
+
],
|
| 478 |
+
"camera_attribs": {
|
| 479 |
+
"fovy": "60"
|
| 480 |
+
},
|
| 481 |
+
"parent_body": "mobilebase0_support"
|
| 482 |
+
},
|
| 483 |
+
"robot0_frontview": {
|
| 484 |
+
"pos": [
|
| 485 |
+
-0.5,
|
| 486 |
+
0,
|
| 487 |
+
0.95
|
| 488 |
+
],
|
| 489 |
+
"quat": [
|
| 490 |
+
0.6088936924934387,
|
| 491 |
+
0.3814677894115448,
|
| 492 |
+
-0.3673907518386841,
|
| 493 |
+
-0.5905545353889465
|
| 494 |
+
],
|
| 495 |
+
"camera_attribs": {
|
| 496 |
+
"fovy": "60"
|
| 497 |
+
},
|
| 498 |
+
"parent_body": "mobilebase0_support"
|
| 499 |
+
},
|
| 500 |
+
"robot0_eye_in_hand": {
|
| 501 |
+
"pos": [
|
| 502 |
+
0.05,
|
| 503 |
+
0,
|
| 504 |
+
0
|
| 505 |
+
],
|
| 506 |
+
"quat": [
|
| 507 |
+
0,
|
| 508 |
+
0.707107,
|
| 509 |
+
0.707107,
|
| 510 |
+
0
|
| 511 |
+
],
|
| 512 |
+
"parent_body": "robot0_right_hand"
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"init_robot_base_pos": [
|
| 516 |
+
-1.2583533175650752,
|
| 517 |
+
-2.0270801585343086,
|
| 518 |
+
0.0
|
| 519 |
+
],
|
| 520 |
+
"init_robot_base_ori": [
|
| 521 |
+
0.0,
|
| 522 |
+
0.0,
|
| 523 |
+
2.0281593271498366e-07
|
| 524 |
+
]
|
| 525 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000056/ep_meta.json
ADDED
|
@@ -0,0 +1,519 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 59,
|
| 3 |
+
"style_id": 22,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.061065,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.061065,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.061065,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_0/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.061065,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_left_01_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_left_01_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_main_2_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_main_2_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_02_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_02_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_03_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_left_03_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_left_04_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_left_04_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"floor_1_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_1_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"floor_2_room": {
|
| 250 |
+
"cls": "Floor"
|
| 251 |
+
},
|
| 252 |
+
"floor_2_backing_room": {
|
| 253 |
+
"cls": "Floor"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory_01_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wallaccessory_02_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wallaccessory_03_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"wallaccessory_04_room": {
|
| 265 |
+
"cls": "WallAccessory"
|
| 266 |
+
},
|
| 267 |
+
"window_group_1_room": {
|
| 268 |
+
"cls": "Window"
|
| 269 |
+
},
|
| 270 |
+
"window_group_2_room": {
|
| 271 |
+
"cls": "Window"
|
| 272 |
+
},
|
| 273 |
+
"stool_2_room": {
|
| 274 |
+
"cls": "Stool"
|
| 275 |
+
},
|
| 276 |
+
"stool_1_room": {
|
| 277 |
+
"cls": "Stool"
|
| 278 |
+
},
|
| 279 |
+
"stool_3_room": {
|
| 280 |
+
"cls": "Stool"
|
| 281 |
+
},
|
| 282 |
+
"fridgefrenchdoor_left_group_1": {
|
| 283 |
+
"cls": "FridgeFrenchDoor"
|
| 284 |
+
},
|
| 285 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 286 |
+
"cls": "HousingCabinet"
|
| 287 |
+
},
|
| 288 |
+
"bottom_left_group_1_base": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"bottom_left_group_1_1": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"microwave_left_group_1": {
|
| 295 |
+
"cls": "Microwave"
|
| 296 |
+
},
|
| 297 |
+
"oven_cabinet_left_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"hingecabinet_1_left_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"microwave_housing_left_group_1": {
|
| 304 |
+
"cls": "HousingCabinet"
|
| 305 |
+
},
|
| 306 |
+
"top_left_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_1_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_1_island_group_1_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_1_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_2_island_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_2_island_group_1_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_2_island_group_1_2": {
|
| 325 |
+
"cls": "PanelCabinet"
|
| 326 |
+
},
|
| 327 |
+
"cube_3_island_group_1": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"cube_1_island_group_1": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"cube_2_island_group_1": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"cube_4_island_group_1": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"dishwasher_1_island_group_1": {
|
| 340 |
+
"cls": "Dishwasher"
|
| 341 |
+
},
|
| 342 |
+
"sink_island_group_1": {
|
| 343 |
+
"cls": "Sink"
|
| 344 |
+
},
|
| 345 |
+
"island_island_group_1": {
|
| 346 |
+
"cls": "Counter"
|
| 347 |
+
},
|
| 348 |
+
"stack_01_main_group_1_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_01_main_group_1_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"stack_01_main_group_1_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_02_main_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_02_main_group_1_1": {
|
| 361 |
+
"cls": "HingeCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_02_main_group_1_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_03_main_group_1_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_03_main_group_1_1": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_03_main_group_1_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_04_main_group_1_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"stack_04_main_group_1_1": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"stack_04_main_group_1_2": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"counter_2_main_group_1": {
|
| 385 |
+
"cls": "Counter"
|
| 386 |
+
},
|
| 387 |
+
"counter_3_main_group_1": {
|
| 388 |
+
"cls": "Counter"
|
| 389 |
+
},
|
| 390 |
+
"widestove_main_group_1": {
|
| 391 |
+
"cls": "Stove"
|
| 392 |
+
},
|
| 393 |
+
"widestove_hood_main_group_1": {
|
| 394 |
+
"cls": "Hood"
|
| 395 |
+
},
|
| 396 |
+
"singlecabinet_03_main_group_1": {
|
| 397 |
+
"cls": "SingleCabinet"
|
| 398 |
+
},
|
| 399 |
+
"singlecabinet_02_main_group_1": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"singlecabinet_01_main_group_1": {
|
| 403 |
+
"cls": "SingleCabinet"
|
| 404 |
+
},
|
| 405 |
+
"singlecabinet_04_main_group_1": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
+
"coffee_machine_main_group_1": {
|
| 409 |
+
"cls": "CoffeeMachine"
|
| 410 |
+
},
|
| 411 |
+
"toaster_main_group_1": {
|
| 412 |
+
"cls": "Toaster"
|
| 413 |
+
},
|
| 414 |
+
"paper_towel_main_group_1": {
|
| 415 |
+
"cls": "Accessory"
|
| 416 |
+
},
|
| 417 |
+
"toaster_oven_main_group_1": {
|
| 418 |
+
"cls": "ToasterOven"
|
| 419 |
+
}
|
| 420 |
+
},
|
| 421 |
+
"gen_textures": {},
|
| 422 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 423 |
+
"fixture_refs": {
|
| 424 |
+
"cabinet": "singlecabinet_03_main_group_1",
|
| 425 |
+
"drawer": "stack_03_main_group_1_2",
|
| 426 |
+
"counter": "counter_2_main_group_1"
|
| 427 |
+
},
|
| 428 |
+
"cam_configs": {
|
| 429 |
+
"robot0_agentview_center": {
|
| 430 |
+
"pos": [
|
| 431 |
+
-0.6,
|
| 432 |
+
0.0,
|
| 433 |
+
1.15
|
| 434 |
+
],
|
| 435 |
+
"quat": [
|
| 436 |
+
0.636945903301239,
|
| 437 |
+
0.3325185477733612,
|
| 438 |
+
-0.3199238181114197,
|
| 439 |
+
-0.6175596117973328
|
| 440 |
+
],
|
| 441 |
+
"parent_body": "mobilebase0_support"
|
| 442 |
+
},
|
| 443 |
+
"robot0_agentview_left": {
|
| 444 |
+
"pos": [
|
| 445 |
+
-0.5,
|
| 446 |
+
0.35,
|
| 447 |
+
1.05
|
| 448 |
+
],
|
| 449 |
+
"quat": [
|
| 450 |
+
0.55623853,
|
| 451 |
+
0.29935253,
|
| 452 |
+
-0.37678665,
|
| 453 |
+
-0.6775092
|
| 454 |
+
],
|
| 455 |
+
"camera_attribs": {
|
| 456 |
+
"fovy": "60"
|
| 457 |
+
},
|
| 458 |
+
"parent_body": "mobilebase0_support"
|
| 459 |
+
},
|
| 460 |
+
"robot0_agentview_right": {
|
| 461 |
+
"pos": [
|
| 462 |
+
-0.5,
|
| 463 |
+
-0.35,
|
| 464 |
+
1.05
|
| 465 |
+
],
|
| 466 |
+
"quat": [
|
| 467 |
+
0.6775091886520386,
|
| 468 |
+
0.3767866790294647,
|
| 469 |
+
-0.2993525564670563,
|
| 470 |
+
-0.55623859167099
|
| 471 |
+
],
|
| 472 |
+
"camera_attribs": {
|
| 473 |
+
"fovy": "60"
|
| 474 |
+
},
|
| 475 |
+
"parent_body": "mobilebase0_support"
|
| 476 |
+
},
|
| 477 |
+
"robot0_frontview": {
|
| 478 |
+
"pos": [
|
| 479 |
+
-0.5,
|
| 480 |
+
0,
|
| 481 |
+
0.95
|
| 482 |
+
],
|
| 483 |
+
"quat": [
|
| 484 |
+
0.6088936924934387,
|
| 485 |
+
0.3814677894115448,
|
| 486 |
+
-0.3673907518386841,
|
| 487 |
+
-0.5905545353889465
|
| 488 |
+
],
|
| 489 |
+
"camera_attribs": {
|
| 490 |
+
"fovy": "60"
|
| 491 |
+
},
|
| 492 |
+
"parent_body": "mobilebase0_support"
|
| 493 |
+
},
|
| 494 |
+
"robot0_eye_in_hand": {
|
| 495 |
+
"pos": [
|
| 496 |
+
0.05,
|
| 497 |
+
0,
|
| 498 |
+
0
|
| 499 |
+
],
|
| 500 |
+
"quat": [
|
| 501 |
+
0,
|
| 502 |
+
0.707107,
|
| 503 |
+
0.707107,
|
| 504 |
+
0
|
| 505 |
+
],
|
| 506 |
+
"parent_body": "robot0_right_hand"
|
| 507 |
+
}
|
| 508 |
+
},
|
| 509 |
+
"init_robot_base_pos": [
|
| 510 |
+
4.839415043150341,
|
| 511 |
+
-0.9173727928587079,
|
| 512 |
+
0.0
|
| 513 |
+
],
|
| 514 |
+
"init_robot_base_ori": [
|
| 515 |
+
0.0,
|
| 516 |
+
0.0,
|
| 517 |
+
1.5707888166096549
|
| 518 |
+
]
|
| 519 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000060/ep_meta.json
ADDED
|
@@ -0,0 +1,597 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 43,
|
| 3 |
+
"style_id": 16,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.189956,
|
| 43 |
+
0.650008
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.189956,
|
| 91 |
+
0.650008
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_11/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.189956,
|
| 143 |
+
0.650008
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.189956,
|
| 195 |
+
0.650008
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_left_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_left_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_2_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_right_2_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_main_3_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"floor_1_backing_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_1.001_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"floor_1.001_backing_room": {
|
| 250 |
+
"cls": "Floor"
|
| 251 |
+
},
|
| 252 |
+
"wallaccessory.001_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory.005_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wallaccessory.003_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wallaccessory.004_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"wallaccessory.002_room": {
|
| 265 |
+
"cls": "WallAccessory"
|
| 266 |
+
},
|
| 267 |
+
"wallaccessory_room": {
|
| 268 |
+
"cls": "WallAccessory"
|
| 269 |
+
},
|
| 270 |
+
"wallaccessory.006_room": {
|
| 271 |
+
"cls": "WallAccessory"
|
| 272 |
+
},
|
| 273 |
+
"counter_corner_1_main_group_1": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_main_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"counter_2_main_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"stove_main_group_1": {
|
| 283 |
+
"cls": "Stove"
|
| 284 |
+
},
|
| 285 |
+
"counter_corner_2_main_group_1": {
|
| 286 |
+
"cls": "Counter"
|
| 287 |
+
},
|
| 288 |
+
"stove_hood_main_group_1": {
|
| 289 |
+
"cls": "Hood"
|
| 290 |
+
},
|
| 291 |
+
"hingecabinet_1_main_group_1": {
|
| 292 |
+
"cls": "HingeCabinet"
|
| 293 |
+
},
|
| 294 |
+
"cube_1_main_group_1": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"hingecabinet_2_main_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"cube_2_main_group_1": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"coffeemachine_main_group_1": {
|
| 304 |
+
"cls": "CoffeeMachine"
|
| 305 |
+
},
|
| 306 |
+
"toaster_main_group_1": {
|
| 307 |
+
"cls": "Toaster"
|
| 308 |
+
},
|
| 309 |
+
"papertowel_main_group_1": {
|
| 310 |
+
"cls": "Accessory"
|
| 311 |
+
},
|
| 312 |
+
"plant_main_group_1": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
},
|
| 315 |
+
"stack_1_main_group_1_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_1_main_group_1_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_2_main_group_1_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"stack_2_main_group_1_1": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_2_main_group_1_2": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_3_main_group_1_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_3_main_group_1_1": {
|
| 334 |
+
"cls": "SingleCabinet"
|
| 335 |
+
},
|
| 336 |
+
"cube_3_main_group_1": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"cube_4_main_group_1": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"counter_1_front_group_1": {
|
| 343 |
+
"cls": "Counter"
|
| 344 |
+
},
|
| 345 |
+
"stack_1_front_group_1_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_1_front_group_1_1": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_1_front_group_1_2": {
|
| 352 |
+
"cls": "Drawer"
|
| 353 |
+
},
|
| 354 |
+
"cube_1_front_group_1": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"cube_2_front_group_1": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_2_front_group_1_base": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"stack_2_front_group_1_1": {
|
| 364 |
+
"cls": "SingleCabinet"
|
| 365 |
+
},
|
| 366 |
+
"counter_1_right_group_1": {
|
| 367 |
+
"cls": "Counter"
|
| 368 |
+
},
|
| 369 |
+
"singlecabinet_1_right_group_1": {
|
| 370 |
+
"cls": "SingleCabinet"
|
| 371 |
+
},
|
| 372 |
+
"hingecabinet_1_right_group_1": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"opencabinet_1_right_group_1": {
|
| 376 |
+
"cls": "OpenCabinet"
|
| 377 |
+
},
|
| 378 |
+
"cube_1_right_group_1": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_right_group_1_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_right_group_1_1": {
|
| 385 |
+
"cls": "SingleCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_right_group_1_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_right_group_1_1": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_right_group_1_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_right_group_1_3": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"fridgesidebyside_right_group_1": {
|
| 400 |
+
"cls": "FridgeSideBySide"
|
| 401 |
+
},
|
| 402 |
+
"fridgesidebyside_housing_right_group_1": {
|
| 403 |
+
"cls": "HousingCabinet"
|
| 404 |
+
},
|
| 405 |
+
"bottom_right_group_1_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"bottom_right_group_1_1": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"microwave_right_group_1": {
|
| 412 |
+
"cls": "Microwave"
|
| 413 |
+
},
|
| 414 |
+
"singlecabinet_3_right_group_1": {
|
| 415 |
+
"cls": "SingleCabinet"
|
| 416 |
+
},
|
| 417 |
+
"stack_3_right_group_1_base": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"stack_3_right_group_1_1": {
|
| 421 |
+
"cls": "SingleCabinet"
|
| 422 |
+
},
|
| 423 |
+
"oven_cabinet_right_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"hingecabinet_2_right_group_1": {
|
| 427 |
+
"cls": "HingeCabinet"
|
| 428 |
+
},
|
| 429 |
+
"microwave_housing_right_group_1": {
|
| 430 |
+
"cls": "HousingCabinet"
|
| 431 |
+
},
|
| 432 |
+
"singlecabinet_2_right_group_1": {
|
| 433 |
+
"cls": "SingleCabinet"
|
| 434 |
+
},
|
| 435 |
+
"top_right_group_1": {
|
| 436 |
+
"cls": "HingeCabinet"
|
| 437 |
+
},
|
| 438 |
+
"toaster_oven_right_group_1": {
|
| 439 |
+
"cls": "ToasterOven"
|
| 440 |
+
},
|
| 441 |
+
"sink_left_group_1": {
|
| 442 |
+
"cls": "Sink"
|
| 443 |
+
},
|
| 444 |
+
"counter_1_left_group_1": {
|
| 445 |
+
"cls": "Counter"
|
| 446 |
+
},
|
| 447 |
+
"counter_corner_1_left_group_1": {
|
| 448 |
+
"cls": "Counter"
|
| 449 |
+
},
|
| 450 |
+
"counter_2_left_group_1": {
|
| 451 |
+
"cls": "Counter"
|
| 452 |
+
},
|
| 453 |
+
"singlecabinet_1_left_group_1": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"hingecabinet_1_left_group_1": {
|
| 457 |
+
"cls": "HingeCabinet"
|
| 458 |
+
},
|
| 459 |
+
"stack_3_left_group_1_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_3_left_group_1_1": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
+
},
|
| 465 |
+
"dishwasher_1_left_group_1": {
|
| 466 |
+
"cls": "Dishwasher"
|
| 467 |
+
},
|
| 468 |
+
"cube_3_left_group_1": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_2_left_group_1_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_2_left_group_1_1": {
|
| 475 |
+
"cls": "SingleCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_1_left_group_1_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_1_left_group_1_1": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"stack_1_left_group_1_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_1_left_group_1_3": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"cube_2_left_group_1": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"cube_1_left_group_1": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"knife_block_left_group_1": {
|
| 496 |
+
"cls": "Accessory"
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"gen_textures": {},
|
| 500 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 501 |
+
"fixture_refs": {
|
| 502 |
+
"cabinet": "hingecabinet_2_main_group_1",
|
| 503 |
+
"drawer": "stack_1_front_group_1_2",
|
| 504 |
+
"counter": "counter_2_main_group_1"
|
| 505 |
+
},
|
| 506 |
+
"cam_configs": {
|
| 507 |
+
"robot0_agentview_center": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.6,
|
| 510 |
+
0.0,
|
| 511 |
+
1.15
|
| 512 |
+
],
|
| 513 |
+
"quat": [
|
| 514 |
+
0.636945903301239,
|
| 515 |
+
0.3325185477733612,
|
| 516 |
+
-0.3199238181114197,
|
| 517 |
+
-0.6175596117973328
|
| 518 |
+
],
|
| 519 |
+
"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_agentview_left": {
|
| 522 |
+
"pos": [
|
| 523 |
+
-0.5,
|
| 524 |
+
0.35,
|
| 525 |
+
1.05
|
| 526 |
+
],
|
| 527 |
+
"quat": [
|
| 528 |
+
0.55623853,
|
| 529 |
+
0.29935253,
|
| 530 |
+
-0.37678665,
|
| 531 |
+
-0.6775092
|
| 532 |
+
],
|
| 533 |
+
"camera_attribs": {
|
| 534 |
+
"fovy": "60"
|
| 535 |
+
},
|
| 536 |
+
"parent_body": "mobilebase0_support"
|
| 537 |
+
},
|
| 538 |
+
"robot0_agentview_right": {
|
| 539 |
+
"pos": [
|
| 540 |
+
-0.5,
|
| 541 |
+
-0.35,
|
| 542 |
+
1.05
|
| 543 |
+
],
|
| 544 |
+
"quat": [
|
| 545 |
+
0.6775091886520386,
|
| 546 |
+
0.3767866790294647,
|
| 547 |
+
-0.2993525564670563,
|
| 548 |
+
-0.55623859167099
|
| 549 |
+
],
|
| 550 |
+
"camera_attribs": {
|
| 551 |
+
"fovy": "60"
|
| 552 |
+
},
|
| 553 |
+
"parent_body": "mobilebase0_support"
|
| 554 |
+
},
|
| 555 |
+
"robot0_frontview": {
|
| 556 |
+
"pos": [
|
| 557 |
+
-0.5,
|
| 558 |
+
0,
|
| 559 |
+
0.95
|
| 560 |
+
],
|
| 561 |
+
"quat": [
|
| 562 |
+
0.6088936924934387,
|
| 563 |
+
0.3814677894115448,
|
| 564 |
+
-0.3673907518386841,
|
| 565 |
+
-0.5905545353889465
|
| 566 |
+
],
|
| 567 |
+
"camera_attribs": {
|
| 568 |
+
"fovy": "60"
|
| 569 |
+
},
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_eye_in_hand": {
|
| 573 |
+
"pos": [
|
| 574 |
+
0.05,
|
| 575 |
+
0,
|
| 576 |
+
0
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0,
|
| 580 |
+
0.707107,
|
| 581 |
+
0.707107,
|
| 582 |
+
0
|
| 583 |
+
],
|
| 584 |
+
"parent_body": "robot0_right_hand"
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"init_robot_base_pos": [
|
| 588 |
+
4.938519968527385,
|
| 589 |
+
-0.8005893212239016,
|
| 590 |
+
0.0
|
| 591 |
+
],
|
| 592 |
+
"init_robot_base_ori": [
|
| 593 |
+
0.0,
|
| 594 |
+
0.0,
|
| 595 |
+
1.5707963267948966
|
| 596 |
+
]
|
| 597 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000064/ep_meta.json
ADDED
|
@@ -0,0 +1,642 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 12,
|
| 3 |
+
"style_id": 53,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.7104757033331166,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
1.081762148333442,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_1"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.7104757033331166,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
1.081762148333442,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_1"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.7104757033331166,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
1.081762148333442,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_1"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.7104757033331166,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
1.081762148333442,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_1"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_right_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_right_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_right_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_right_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"wall_accessory_1_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"wall_accessory_2_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_3_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"light_switch_1_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wall_accessory_4_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wall_accessory_5_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"window_group_room": {
|
| 262 |
+
"cls": "Window"
|
| 263 |
+
},
|
| 264 |
+
"stool_1_room": {
|
| 265 |
+
"cls": "Stool"
|
| 266 |
+
},
|
| 267 |
+
"stool_2_room": {
|
| 268 |
+
"cls": "Stool"
|
| 269 |
+
},
|
| 270 |
+
"stool_3_room": {
|
| 271 |
+
"cls": "Stool"
|
| 272 |
+
},
|
| 273 |
+
"stool_4_room": {
|
| 274 |
+
"cls": "Stool"
|
| 275 |
+
},
|
| 276 |
+
"stool_5_room": {
|
| 277 |
+
"cls": "Stool"
|
| 278 |
+
},
|
| 279 |
+
"stool_6_room": {
|
| 280 |
+
"cls": "Stool"
|
| 281 |
+
},
|
| 282 |
+
"counter_corner_1_main_group": {
|
| 283 |
+
"cls": "Counter"
|
| 284 |
+
},
|
| 285 |
+
"sink_1_main_group": {
|
| 286 |
+
"cls": "Sink"
|
| 287 |
+
},
|
| 288 |
+
"counter_1_main_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"counter_corner_2_main_group": {
|
| 292 |
+
"cls": "Counter"
|
| 293 |
+
},
|
| 294 |
+
"box_1_main_group": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_main_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_main_group_1": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_main_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_1_main_group_3": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_main_group_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_main_group_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_2_main_group_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_main_group_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_main_group_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"dishwasher_1_main_group": {
|
| 325 |
+
"cls": "Dishwasher"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_main_group_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_main_group_1": {
|
| 331 |
+
"cls": "SingleCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_4_main_group_2": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_5_main_group_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_5_main_group_1": {
|
| 340 |
+
"cls": "SingleCabinet"
|
| 341 |
+
},
|
| 342 |
+
"box_2_main_group": {
|
| 343 |
+
"cls": "Box"
|
| 344 |
+
},
|
| 345 |
+
"top_corner_1_main_group": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"cab_1_main_group": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"cab_2_main_group": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"top_corner_2_main_group": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"paper_towel_main_group": {
|
| 358 |
+
"cls": "Accessory"
|
| 359 |
+
},
|
| 360 |
+
"coffee_machine_main_group": {
|
| 361 |
+
"cls": "CoffeeMachine"
|
| 362 |
+
},
|
| 363 |
+
"toaster_main_group": {
|
| 364 |
+
"cls": "Toaster"
|
| 365 |
+
},
|
| 366 |
+
"knife_block_main_group": {
|
| 367 |
+
"cls": "Accessory"
|
| 368 |
+
},
|
| 369 |
+
"stovetop_left_group": {
|
| 370 |
+
"cls": "Stovetop"
|
| 371 |
+
},
|
| 372 |
+
"counter_1_left_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"box_1_left_group": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_left_group_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_left_group_1": {
|
| 382 |
+
"cls": "SingleCabinet"
|
| 383 |
+
},
|
| 384 |
+
"stack_2_left_group_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_left_group_1": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_left_group_2": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_left_group_3": {
|
| 394 |
+
"cls": "PanelCabinet"
|
| 395 |
+
},
|
| 396 |
+
"box_3_left_group": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_left_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_left_group_1": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_left_group_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_left_group_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"box_2_left_group": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"fridge_1_left_group": {
|
| 415 |
+
"cls": "FridgeFrenchDoor"
|
| 416 |
+
},
|
| 417 |
+
"fridge_1_housing_left_group": {
|
| 418 |
+
"cls": "HousingCabinet"
|
| 419 |
+
},
|
| 420 |
+
"hood_left_group": {
|
| 421 |
+
"cls": "Hood"
|
| 422 |
+
},
|
| 423 |
+
"cab_1_left_group": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"cab_2_left_group": {
|
| 427 |
+
"cls": "SingleCabinet"
|
| 428 |
+
},
|
| 429 |
+
"cab_3_left_group": {
|
| 430 |
+
"cls": "HingeCabinet"
|
| 431 |
+
},
|
| 432 |
+
"toaster_oven_left_group": {
|
| 433 |
+
"cls": "ToasterOven"
|
| 434 |
+
},
|
| 435 |
+
"bottom_right_group_1_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"bottom_right_group_1_1": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"oven_right_group_1": {
|
| 442 |
+
"cls": "Oven"
|
| 443 |
+
},
|
| 444 |
+
"oven_housing_right_group_1": {
|
| 445 |
+
"cls": "HousingCabinet"
|
| 446 |
+
},
|
| 447 |
+
"microwave_right_group_1": {
|
| 448 |
+
"cls": "Microwave"
|
| 449 |
+
},
|
| 450 |
+
"microwave_housing_right_group_1": {
|
| 451 |
+
"cls": "HousingCabinet"
|
| 452 |
+
},
|
| 453 |
+
"top_right_group_1": {
|
| 454 |
+
"cls": "HingeCabinet"
|
| 455 |
+
},
|
| 456 |
+
"stack_1_right_group_1_base": {
|
| 457 |
+
"cls": "Box"
|
| 458 |
+
},
|
| 459 |
+
"stack_1_right_group_1_1": {
|
| 460 |
+
"cls": "HingeCabinet"
|
| 461 |
+
},
|
| 462 |
+
"stack_2_right_group_1_base": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"stack_2_right_group_1_1": {
|
| 466 |
+
"cls": "PanelCabinet"
|
| 467 |
+
},
|
| 468 |
+
"box_right_group_1": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_3_right_group_1_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_3_right_group_1_1": {
|
| 475 |
+
"cls": "HingeCabinet"
|
| 476 |
+
},
|
| 477 |
+
"counter_1_right_group_1": {
|
| 478 |
+
"cls": "Counter"
|
| 479 |
+
},
|
| 480 |
+
"cab_1_right_group_1": {
|
| 481 |
+
"cls": "HingeCabinet"
|
| 482 |
+
},
|
| 483 |
+
"cab_2_right_group_1": {
|
| 484 |
+
"cls": "SingleCabinet"
|
| 485 |
+
},
|
| 486 |
+
"cab_3_right_group_1": {
|
| 487 |
+
"cls": "HingeCabinet"
|
| 488 |
+
},
|
| 489 |
+
"island_island_group": {
|
| 490 |
+
"cls": "Counter"
|
| 491 |
+
},
|
| 492 |
+
"panel_stack_1_island_group_base": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"panel_stack_1_island_group_1": {
|
| 496 |
+
"cls": "PanelCabinet"
|
| 497 |
+
},
|
| 498 |
+
"stack_1_island_group_base": {
|
| 499 |
+
"cls": "Box"
|
| 500 |
+
},
|
| 501 |
+
"stack_1_island_group_1": {
|
| 502 |
+
"cls": "HingeCabinet"
|
| 503 |
+
},
|
| 504 |
+
"stack_1_island_group_2": {
|
| 505 |
+
"cls": "Drawer"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_island_group_base": {
|
| 508 |
+
"cls": "Box"
|
| 509 |
+
},
|
| 510 |
+
"stack_2_island_group_1": {
|
| 511 |
+
"cls": "HingeCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_2_island_group_2": {
|
| 514 |
+
"cls": "Drawer"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_island_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_island_group_1": {
|
| 520 |
+
"cls": "HingeCabinet"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_island_group_2": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"stack_4_island_group_base": {
|
| 526 |
+
"cls": "Box"
|
| 527 |
+
},
|
| 528 |
+
"stack_4_island_group_1": {
|
| 529 |
+
"cls": "HingeCabinet"
|
| 530 |
+
},
|
| 531 |
+
"stack_4_island_group_2": {
|
| 532 |
+
"cls": "Drawer"
|
| 533 |
+
},
|
| 534 |
+
"panel_stack_2_island_group_base": {
|
| 535 |
+
"cls": "Box"
|
| 536 |
+
},
|
| 537 |
+
"panel_stack_2_island_group_1": {
|
| 538 |
+
"cls": "PanelCabinet"
|
| 539 |
+
},
|
| 540 |
+
"box_1_island_group": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"gen_textures": {},
|
| 545 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 546 |
+
"fixture_refs": {
|
| 547 |
+
"cabinet": "cab_2_left_group",
|
| 548 |
+
"drawer": "stack_4_main_group_2",
|
| 549 |
+
"counter": "counter_1_main_group"
|
| 550 |
+
},
|
| 551 |
+
"cam_configs": {
|
| 552 |
+
"robot0_agentview_center": {
|
| 553 |
+
"pos": [
|
| 554 |
+
-0.6,
|
| 555 |
+
0.0,
|
| 556 |
+
1.15
|
| 557 |
+
],
|
| 558 |
+
"quat": [
|
| 559 |
+
0.636945903301239,
|
| 560 |
+
0.3325185477733612,
|
| 561 |
+
-0.3199238181114197,
|
| 562 |
+
-0.6175596117973328
|
| 563 |
+
],
|
| 564 |
+
"parent_body": "mobilebase0_support"
|
| 565 |
+
},
|
| 566 |
+
"robot0_agentview_left": {
|
| 567 |
+
"pos": [
|
| 568 |
+
-0.5,
|
| 569 |
+
0.35,
|
| 570 |
+
1.05
|
| 571 |
+
],
|
| 572 |
+
"quat": [
|
| 573 |
+
0.55623853,
|
| 574 |
+
0.29935253,
|
| 575 |
+
-0.37678665,
|
| 576 |
+
-0.6775092
|
| 577 |
+
],
|
| 578 |
+
"camera_attribs": {
|
| 579 |
+
"fovy": "60"
|
| 580 |
+
},
|
| 581 |
+
"parent_body": "mobilebase0_support"
|
| 582 |
+
},
|
| 583 |
+
"robot0_agentview_right": {
|
| 584 |
+
"pos": [
|
| 585 |
+
-0.5,
|
| 586 |
+
-0.35,
|
| 587 |
+
1.05
|
| 588 |
+
],
|
| 589 |
+
"quat": [
|
| 590 |
+
0.6775091886520386,
|
| 591 |
+
0.3767866790294647,
|
| 592 |
+
-0.2993525564670563,
|
| 593 |
+
-0.55623859167099
|
| 594 |
+
],
|
| 595 |
+
"camera_attribs": {
|
| 596 |
+
"fovy": "60"
|
| 597 |
+
},
|
| 598 |
+
"parent_body": "mobilebase0_support"
|
| 599 |
+
},
|
| 600 |
+
"robot0_frontview": {
|
| 601 |
+
"pos": [
|
| 602 |
+
-0.5,
|
| 603 |
+
0,
|
| 604 |
+
0.95
|
| 605 |
+
],
|
| 606 |
+
"quat": [
|
| 607 |
+
0.6088936924934387,
|
| 608 |
+
0.3814677894115448,
|
| 609 |
+
-0.3673907518386841,
|
| 610 |
+
-0.5905545353889465
|
| 611 |
+
],
|
| 612 |
+
"camera_attribs": {
|
| 613 |
+
"fovy": "60"
|
| 614 |
+
},
|
| 615 |
+
"parent_body": "mobilebase0_support"
|
| 616 |
+
},
|
| 617 |
+
"robot0_eye_in_hand": {
|
| 618 |
+
"pos": [
|
| 619 |
+
0.05,
|
| 620 |
+
0,
|
| 621 |
+
0
|
| 622 |
+
],
|
| 623 |
+
"quat": [
|
| 624 |
+
0,
|
| 625 |
+
0.707107,
|
| 626 |
+
0.707107,
|
| 627 |
+
0
|
| 628 |
+
],
|
| 629 |
+
"parent_body": "robot0_right_hand"
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"init_robot_base_pos": [
|
| 633 |
+
3.3278584485723695,
|
| 634 |
+
-0.9319544431338831,
|
| 635 |
+
0.0
|
| 636 |
+
],
|
| 637 |
+
"init_robot_base_ori": [
|
| 638 |
+
0.0,
|
| 639 |
+
0.0,
|
| 640 |
+
1.5707963267948966
|
| 641 |
+
]
|
| 642 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000073/ep_meta.json
ADDED
|
@@ -0,0 +1,636 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 20,
|
| 3 |
+
"style_id": 42,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_main_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.312,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_main_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.312,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_main_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.312,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_main_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.312,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_front_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_front_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_front_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_front_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_front_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_front_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"wall_accessory_1_room": {
|
| 244 |
+
"cls": "WallAccessory"
|
| 245 |
+
},
|
| 246 |
+
"wall_accessory_2_room": {
|
| 247 |
+
"cls": "WallAccessory"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_3_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_4_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"window_group_room": {
|
| 256 |
+
"cls": "Window"
|
| 257 |
+
},
|
| 258 |
+
"counter_corner_main_group": {
|
| 259 |
+
"cls": "Counter"
|
| 260 |
+
},
|
| 261 |
+
"counter_1_main_group": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
+
},
|
| 264 |
+
"stove_main_group": {
|
| 265 |
+
"cls": "Stove"
|
| 266 |
+
},
|
| 267 |
+
"counter_2_main_group": {
|
| 268 |
+
"cls": "Counter"
|
| 269 |
+
},
|
| 270 |
+
"stack_1_main_group_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_1_main_group_1": {
|
| 274 |
+
"cls": "SingleCabinet"
|
| 275 |
+
},
|
| 276 |
+
"stack_1_main_group_2": {
|
| 277 |
+
"cls": "Drawer"
|
| 278 |
+
},
|
| 279 |
+
"stack_2_main_group_base": {
|
| 280 |
+
"cls": "Box"
|
| 281 |
+
},
|
| 282 |
+
"stack_2_main_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"box_main_group": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_3_main_group_base": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"stack_3_main_group_1": {
|
| 292 |
+
"cls": "SingleCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_3_main_group_2": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_4_main_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_4_main_group_1": {
|
| 301 |
+
"cls": "SingleCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_4_main_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_5_main_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_5_main_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_6_main_group_base": {
|
| 313 |
+
"cls": "Box"
|
| 314 |
+
},
|
| 315 |
+
"stack_6_main_group_1": {
|
| 316 |
+
"cls": "HingeCabinet"
|
| 317 |
+
},
|
| 318 |
+
"cab_1_main_group": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"cab_2_main_group": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"cab_3_main_group": {
|
| 325 |
+
"cls": "SingleCabinet"
|
| 326 |
+
},
|
| 327 |
+
"microwave_main_group": {
|
| 328 |
+
"cls": "Microwave"
|
| 329 |
+
},
|
| 330 |
+
"cab_4_main_group": {
|
| 331 |
+
"cls": "HingeCabinet"
|
| 332 |
+
},
|
| 333 |
+
"cab_5_main_group": {
|
| 334 |
+
"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
+
"cab_6_main_group": {
|
| 337 |
+
"cls": "HingeCabinet"
|
| 338 |
+
},
|
| 339 |
+
"coffee_machine_main_group": {
|
| 340 |
+
"cls": "CoffeeMachine"
|
| 341 |
+
},
|
| 342 |
+
"paper_towel_main_group": {
|
| 343 |
+
"cls": "Accessory"
|
| 344 |
+
},
|
| 345 |
+
"counter_corner_1_left_group": {
|
| 346 |
+
"cls": "Counter"
|
| 347 |
+
},
|
| 348 |
+
"sink_1_left_group": {
|
| 349 |
+
"cls": "Sink"
|
| 350 |
+
},
|
| 351 |
+
"counter_1_left_group": {
|
| 352 |
+
"cls": "Counter"
|
| 353 |
+
},
|
| 354 |
+
"box_1_left_group": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_left_group_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_left_group_1": {
|
| 361 |
+
"cls": "HingeCabinet"
|
| 362 |
+
},
|
| 363 |
+
"dishwasher_1_left_group": {
|
| 364 |
+
"cls": "Dishwasher"
|
| 365 |
+
},
|
| 366 |
+
"stack_2_left_group_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_left_group_1": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_3_left_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_3_left_group_1": {
|
| 376 |
+
"cls": "SingleCabinet"
|
| 377 |
+
},
|
| 378 |
+
"box_2_left_group": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"cab_1_left_group": {
|
| 382 |
+
"cls": "SingleCabinet"
|
| 383 |
+
},
|
| 384 |
+
"cab_2_left_group": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"cab_3_left_group": {
|
| 388 |
+
"cls": "SingleCabinet"
|
| 389 |
+
},
|
| 390 |
+
"cab_corner_left_group": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"knife_block_left_group": {
|
| 394 |
+
"cls": "Accessory"
|
| 395 |
+
},
|
| 396 |
+
"island_island_group_1": {
|
| 397 |
+
"cls": "Counter"
|
| 398 |
+
},
|
| 399 |
+
"panel_stack_1_island_group_1_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"panel_stack_1_island_group_1_1": {
|
| 403 |
+
"cls": "PanelCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_island_group_1_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_island_group_1_1": {
|
| 409 |
+
"cls": "HingeCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_island_group_1_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_island_group_1_1": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"stack_3_island_group_1_base": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"stack_3_island_group_1_1": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"panel_stack_2_island_group_1_base": {
|
| 424 |
+
"cls": "Box"
|
| 425 |
+
},
|
| 426 |
+
"panel_stack_2_island_group_1_1": {
|
| 427 |
+
"cls": "PanelCabinet"
|
| 428 |
+
},
|
| 429 |
+
"plant_island_group_1": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"counter_1_island_group_2": {
|
| 433 |
+
"cls": "Counter"
|
| 434 |
+
},
|
| 435 |
+
"panel_stack_1_island_group_2_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"panel_stack_1_island_group_2_1": {
|
| 439 |
+
"cls": "PanelCabinet"
|
| 440 |
+
},
|
| 441 |
+
"stack_1_island_group_2_base": {
|
| 442 |
+
"cls": "Box"
|
| 443 |
+
},
|
| 444 |
+
"stack_1_island_group_2_1": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_1_island_group_2_2": {
|
| 448 |
+
"cls": "Drawer"
|
| 449 |
+
},
|
| 450 |
+
"stack_2_island_group_2_base": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_2_island_group_2_1": {
|
| 454 |
+
"cls": "Drawer"
|
| 455 |
+
},
|
| 456 |
+
"stack_2_island_group_2_2": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"stack_3_island_group_2_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_3_island_group_2_1": {
|
| 463 |
+
"cls": "Drawer"
|
| 464 |
+
},
|
| 465 |
+
"stack_3_island_group_2_2": {
|
| 466 |
+
"cls": "Drawer"
|
| 467 |
+
},
|
| 468 |
+
"panel_stack_2_island_group_2_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"panel_stack_2_island_group_2_1": {
|
| 472 |
+
"cls": "PanelCabinet"
|
| 473 |
+
},
|
| 474 |
+
"counter_1_front_group_1": {
|
| 475 |
+
"cls": "Counter"
|
| 476 |
+
},
|
| 477 |
+
"fridge_1_front_group_1": {
|
| 478 |
+
"cls": "FridgeFrenchDoor"
|
| 479 |
+
},
|
| 480 |
+
"fridge_1_housing_front_group_1": {
|
| 481 |
+
"cls": "HousingCabinet"
|
| 482 |
+
},
|
| 483 |
+
"stack_1_front_group_1_base": {
|
| 484 |
+
"cls": "Box"
|
| 485 |
+
},
|
| 486 |
+
"stack_1_front_group_1_1": {
|
| 487 |
+
"cls": "HingeCabinet"
|
| 488 |
+
},
|
| 489 |
+
"box_front_group_1": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"cab_1_front_group_1": {
|
| 493 |
+
"cls": "HingeCabinet"
|
| 494 |
+
},
|
| 495 |
+
"cab_2_front_group_1": {
|
| 496 |
+
"cls": "SingleCabinet"
|
| 497 |
+
},
|
| 498 |
+
"cab_3_front_group_1": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"toaster_front_group_1": {
|
| 502 |
+
"cls": "Toaster"
|
| 503 |
+
},
|
| 504 |
+
"counter_1_front_group_2": {
|
| 505 |
+
"cls": "Counter"
|
| 506 |
+
},
|
| 507 |
+
"stack_1_front_group_2_base": {
|
| 508 |
+
"cls": "Box"
|
| 509 |
+
},
|
| 510 |
+
"stack_1_front_group_2_1": {
|
| 511 |
+
"cls": "SingleCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_2_front_group_2_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"stack_2_front_group_2_1": {
|
| 517 |
+
"cls": "SingleCabinet"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_front_group_2_base": {
|
| 520 |
+
"cls": "Box"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_front_group_2_1": {
|
| 523 |
+
"cls": "SingleCabinet"
|
| 524 |
+
},
|
| 525 |
+
"cab_1_front_group_2": {
|
| 526 |
+
"cls": "HingeCabinet"
|
| 527 |
+
},
|
| 528 |
+
"cab_2_front_group_2": {
|
| 529 |
+
"cls": "HingeCabinet"
|
| 530 |
+
},
|
| 531 |
+
"cab_3_front_group_2": {
|
| 532 |
+
"cls": "HingeCabinet"
|
| 533 |
+
},
|
| 534 |
+
"toaster_oven_front_group_2": {
|
| 535 |
+
"cls": "ToasterOven"
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
"gen_textures": {},
|
| 539 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 540 |
+
"fixture_refs": {
|
| 541 |
+
"cabinet": "cab_1_left_group",
|
| 542 |
+
"drawer": "stack_3_main_group_2",
|
| 543 |
+
"counter": "counter_2_main_group"
|
| 544 |
+
},
|
| 545 |
+
"cam_configs": {
|
| 546 |
+
"robot0_agentview_center": {
|
| 547 |
+
"pos": [
|
| 548 |
+
-0.6,
|
| 549 |
+
0.0,
|
| 550 |
+
1.15
|
| 551 |
+
],
|
| 552 |
+
"quat": [
|
| 553 |
+
0.636945903301239,
|
| 554 |
+
0.3325185477733612,
|
| 555 |
+
-0.3199238181114197,
|
| 556 |
+
-0.6175596117973328
|
| 557 |
+
],
|
| 558 |
+
"parent_body": "mobilebase0_support"
|
| 559 |
+
},
|
| 560 |
+
"robot0_agentview_left": {
|
| 561 |
+
"pos": [
|
| 562 |
+
-0.5,
|
| 563 |
+
0.35,
|
| 564 |
+
1.05
|
| 565 |
+
],
|
| 566 |
+
"quat": [
|
| 567 |
+
0.55623853,
|
| 568 |
+
0.29935253,
|
| 569 |
+
-0.37678665,
|
| 570 |
+
-0.6775092
|
| 571 |
+
],
|
| 572 |
+
"camera_attribs": {
|
| 573 |
+
"fovy": "60"
|
| 574 |
+
},
|
| 575 |
+
"parent_body": "mobilebase0_support"
|
| 576 |
+
},
|
| 577 |
+
"robot0_agentview_right": {
|
| 578 |
+
"pos": [
|
| 579 |
+
-0.5,
|
| 580 |
+
-0.35,
|
| 581 |
+
1.05
|
| 582 |
+
],
|
| 583 |
+
"quat": [
|
| 584 |
+
0.6775091886520386,
|
| 585 |
+
0.3767866790294647,
|
| 586 |
+
-0.2993525564670563,
|
| 587 |
+
-0.55623859167099
|
| 588 |
+
],
|
| 589 |
+
"camera_attribs": {
|
| 590 |
+
"fovy": "60"
|
| 591 |
+
},
|
| 592 |
+
"parent_body": "mobilebase0_support"
|
| 593 |
+
},
|
| 594 |
+
"robot0_frontview": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.5,
|
| 597 |
+
0,
|
| 598 |
+
0.95
|
| 599 |
+
],
|
| 600 |
+
"quat": [
|
| 601 |
+
0.6088936924934387,
|
| 602 |
+
0.3814677894115448,
|
| 603 |
+
-0.3673907518386841,
|
| 604 |
+
-0.5905545353889465
|
| 605 |
+
],
|
| 606 |
+
"camera_attribs": {
|
| 607 |
+
"fovy": "60"
|
| 608 |
+
},
|
| 609 |
+
"parent_body": "mobilebase0_support"
|
| 610 |
+
},
|
| 611 |
+
"robot0_eye_in_hand": {
|
| 612 |
+
"pos": [
|
| 613 |
+
0.05,
|
| 614 |
+
0,
|
| 615 |
+
0
|
| 616 |
+
],
|
| 617 |
+
"quat": [
|
| 618 |
+
0,
|
| 619 |
+
0.707107,
|
| 620 |
+
0.707107,
|
| 621 |
+
0
|
| 622 |
+
],
|
| 623 |
+
"parent_body": "robot0_right_hand"
|
| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"init_robot_base_pos": [
|
| 627 |
+
3.6168352645803474,
|
| 628 |
+
-0.7728053142231168,
|
| 629 |
+
0.0
|
| 630 |
+
],
|
| 631 |
+
"init_robot_base_ori": [
|
| 632 |
+
0.0,
|
| 633 |
+
0.0,
|
| 634 |
+
1.5707963267948966
|
| 635 |
+
]
|
| 636 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000074/ep_meta.json
ADDED
|
@@ -0,0 +1,564 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 46,
|
| 3 |
+
"style_id": 50,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_front_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.1416567478749715,
|
| 43 |
+
1.300035
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
1.0813876260625142,
|
| 47 |
+
2.0816681711721685e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_1"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_front_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.1416567478749715,
|
| 91 |
+
1.300035
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
1.0813876260625142,
|
| 95 |
+
2.0816681711721685e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_1"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_front_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.1416567478749715,
|
| 143 |
+
1.300035
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
1.0813876260625142,
|
| 147 |
+
2.0816681711721685e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_1"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_front_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.1416567478749715,
|
| 195 |
+
1.300035
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
1.0813876260625142,
|
| 199 |
+
2.0816681711721685e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_1"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_right_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_right_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_3_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_3_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_right_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_right_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_main_2_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_main_2_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"floor_2_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_2_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"wallaccessory_06_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"lightswitch_01_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory_03_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wallaccessory_04_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"stool_1_room": {
|
| 262 |
+
"cls": "Stool"
|
| 263 |
+
},
|
| 264 |
+
"stool_2_room": {
|
| 265 |
+
"cls": "Stool"
|
| 266 |
+
},
|
| 267 |
+
"stool_3_room": {
|
| 268 |
+
"cls": "Stool"
|
| 269 |
+
},
|
| 270 |
+
"stool_4_room": {
|
| 271 |
+
"cls": "Stool"
|
| 272 |
+
},
|
| 273 |
+
"stool_5_room": {
|
| 274 |
+
"cls": "Stool"
|
| 275 |
+
},
|
| 276 |
+
"stool_6_room": {
|
| 277 |
+
"cls": "Stool"
|
| 278 |
+
},
|
| 279 |
+
"dining_dining_area_group": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cube_1_dining_area_group": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"cube_2_dining_area_group": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"fridgefrenchdoor_main_group_1": {
|
| 289 |
+
"cls": "FridgeFrenchDoor"
|
| 290 |
+
},
|
| 291 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 292 |
+
"cls": "HousingCabinet"
|
| 293 |
+
},
|
| 294 |
+
"bottom_main_group_1_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"bottom_main_group_1_1": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"microwave_main_group_1": {
|
| 301 |
+
"cls": "Microwave"
|
| 302 |
+
},
|
| 303 |
+
"hingecabinet_02_main_group_1": {
|
| 304 |
+
"cls": "HingeCabinet"
|
| 305 |
+
},
|
| 306 |
+
"oven_cabinet_main_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"microwave_housing_main_group_1": {
|
| 310 |
+
"cls": "HousingCabinet"
|
| 311 |
+
},
|
| 312 |
+
"top_main_group_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"hingecabinet_01_main_group_1": {
|
| 316 |
+
"cls": "HingeCabinet"
|
| 317 |
+
},
|
| 318 |
+
"singlecabinet_1_main_group_1": {
|
| 319 |
+
"cls": "SingleCabinet"
|
| 320 |
+
},
|
| 321 |
+
"singlecabinet_2_main_group_1": {
|
| 322 |
+
"cls": "SingleCabinet"
|
| 323 |
+
},
|
| 324 |
+
"counter_2_main_group_1": {
|
| 325 |
+
"cls": "Counter"
|
| 326 |
+
},
|
| 327 |
+
"counter_1_main_group_1": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
+
},
|
| 330 |
+
"stove_main_group_1": {
|
| 331 |
+
"cls": "Stove"
|
| 332 |
+
},
|
| 333 |
+
"stove_hood_main_group_1": {
|
| 334 |
+
"cls": "Hood"
|
| 335 |
+
},
|
| 336 |
+
"stack_01_main_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_01_main_group_1_1": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
+
},
|
| 342 |
+
"stack_01_main_group_1_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_01_main_group_1_3": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_02_main_group_1_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_02_main_group_1_1": {
|
| 352 |
+
"cls": "Drawer"
|
| 353 |
+
},
|
| 354 |
+
"stack_02_main_group_1_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_02_main_group_1_3": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"stack_03_main_group_1_base": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"stack_03_main_group_1_1": {
|
| 364 |
+
"cls": "HingeCabinet"
|
| 365 |
+
},
|
| 366 |
+
"stack_03_main_group_1_2": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"coffee_machine_main_group_1": {
|
| 370 |
+
"cls": "CoffeeMachine"
|
| 371 |
+
},
|
| 372 |
+
"toaster_main_group_1": {
|
| 373 |
+
"cls": "Toaster"
|
| 374 |
+
},
|
| 375 |
+
"toaster_oven_main_group_1": {
|
| 376 |
+
"cls": "ToasterOven"
|
| 377 |
+
},
|
| 378 |
+
"sink_front_group_1": {
|
| 379 |
+
"cls": "Sink"
|
| 380 |
+
},
|
| 381 |
+
"counter_2_front_group_1": {
|
| 382 |
+
"cls": "Counter"
|
| 383 |
+
},
|
| 384 |
+
"stack_05_front_group_1_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_05_front_group_1_1": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"stack_05_front_group_1_2": {
|
| 391 |
+
"cls": "PanelCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_08_front_group_1_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_08_front_group_1_1": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_08_front_group_1_2": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_06_front_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_06_front_group_1_1": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_04_front_group_1_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_04_front_group_1_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"stack_04_front_group_1_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"dishwasher_1_front_group_1": {
|
| 418 |
+
"cls": "Dishwasher"
|
| 419 |
+
},
|
| 420 |
+
"stack_12_front_group_1_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_12_front_group_1_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_12_front_group_1_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"plant_front_group_1": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"paper_towel_front_group_1": {
|
| 433 |
+
"cls": "Accessory"
|
| 434 |
+
},
|
| 435 |
+
"cube_1_front_group_2": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_11_front_group_2_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_11_front_group_2_1": {
|
| 442 |
+
"cls": "HingeCabinet"
|
| 443 |
+
},
|
| 444 |
+
"stack_10_front_group_2_base": {
|
| 445 |
+
"cls": "Box"
|
| 446 |
+
},
|
| 447 |
+
"stack_10_front_group_2_1": {
|
| 448 |
+
"cls": "HingeCabinet"
|
| 449 |
+
},
|
| 450 |
+
"stack_09_front_group_2_base": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_09_front_group_2_1": {
|
| 454 |
+
"cls": "HingeCabinet"
|
| 455 |
+
},
|
| 456 |
+
"cube_2_front_group_2": {
|
| 457 |
+
"cls": "Box"
|
| 458 |
+
},
|
| 459 |
+
"stack_13_front_group_2_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_13_front_group_2_1": {
|
| 463 |
+
"cls": "SingleCabinet"
|
| 464 |
+
}
|
| 465 |
+
},
|
| 466 |
+
"gen_textures": {},
|
| 467 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 468 |
+
"fixture_refs": {
|
| 469 |
+
"cabinet": "hingecabinet_01_main_group_1",
|
| 470 |
+
"drawer": "stack_03_main_group_1_2",
|
| 471 |
+
"counter": "counter_2_front_group_1"
|
| 472 |
+
},
|
| 473 |
+
"cam_configs": {
|
| 474 |
+
"robot0_agentview_center": {
|
| 475 |
+
"pos": [
|
| 476 |
+
-0.6,
|
| 477 |
+
0.0,
|
| 478 |
+
1.15
|
| 479 |
+
],
|
| 480 |
+
"quat": [
|
| 481 |
+
0.636945903301239,
|
| 482 |
+
0.3325185477733612,
|
| 483 |
+
-0.3199238181114197,
|
| 484 |
+
-0.6175596117973328
|
| 485 |
+
],
|
| 486 |
+
"parent_body": "mobilebase0_support"
|
| 487 |
+
},
|
| 488 |
+
"robot0_agentview_left": {
|
| 489 |
+
"pos": [
|
| 490 |
+
-0.5,
|
| 491 |
+
0.35,
|
| 492 |
+
1.05
|
| 493 |
+
],
|
| 494 |
+
"quat": [
|
| 495 |
+
0.55623853,
|
| 496 |
+
0.29935253,
|
| 497 |
+
-0.37678665,
|
| 498 |
+
-0.6775092
|
| 499 |
+
],
|
| 500 |
+
"camera_attribs": {
|
| 501 |
+
"fovy": "60"
|
| 502 |
+
},
|
| 503 |
+
"parent_body": "mobilebase0_support"
|
| 504 |
+
},
|
| 505 |
+
"robot0_agentview_right": {
|
| 506 |
+
"pos": [
|
| 507 |
+
-0.5,
|
| 508 |
+
-0.35,
|
| 509 |
+
1.05
|
| 510 |
+
],
|
| 511 |
+
"quat": [
|
| 512 |
+
0.6775091886520386,
|
| 513 |
+
0.3767866790294647,
|
| 514 |
+
-0.2993525564670563,
|
| 515 |
+
-0.55623859167099
|
| 516 |
+
],
|
| 517 |
+
"camera_attribs": {
|
| 518 |
+
"fovy": "60"
|
| 519 |
+
},
|
| 520 |
+
"parent_body": "mobilebase0_support"
|
| 521 |
+
},
|
| 522 |
+
"robot0_frontview": {
|
| 523 |
+
"pos": [
|
| 524 |
+
-0.5,
|
| 525 |
+
0,
|
| 526 |
+
0.95
|
| 527 |
+
],
|
| 528 |
+
"quat": [
|
| 529 |
+
0.6088936924934387,
|
| 530 |
+
0.3814677894115448,
|
| 531 |
+
-0.3673907518386841,
|
| 532 |
+
-0.5905545353889465
|
| 533 |
+
],
|
| 534 |
+
"camera_attribs": {
|
| 535 |
+
"fovy": "60"
|
| 536 |
+
},
|
| 537 |
+
"parent_body": "mobilebase0_support"
|
| 538 |
+
},
|
| 539 |
+
"robot0_eye_in_hand": {
|
| 540 |
+
"pos": [
|
| 541 |
+
0.05,
|
| 542 |
+
0,
|
| 543 |
+
0
|
| 544 |
+
],
|
| 545 |
+
"quat": [
|
| 546 |
+
0,
|
| 547 |
+
0.707107,
|
| 548 |
+
0.707107,
|
| 549 |
+
0
|
| 550 |
+
],
|
| 551 |
+
"parent_body": "robot0_right_hand"
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"init_robot_base_pos": [
|
| 555 |
+
3.033293677988795,
|
| 556 |
+
-2.710125023982562,
|
| 557 |
+
0.0
|
| 558 |
+
],
|
| 559 |
+
"init_robot_base_ori": [
|
| 560 |
+
0.0,
|
| 561 |
+
0.0,
|
| 562 |
+
4.712230463812298
|
| 563 |
+
]
|
| 564 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000075/ep_meta.json
ADDED
|
@@ -0,0 +1,501 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 44,
|
| 3 |
+
"style_id": 60,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
0.8385660106143343,
|
| 43 |
+
0.650008
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.5013194946928328,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
0.8385660106143343,
|
| 91 |
+
0.650008
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.5013194946928328,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
0.8385660106143343,
|
| 143 |
+
0.650008
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.5013194946928328,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
0.8385660106143343,
|
| 195 |
+
0.650008
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.5013194946928328,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_left_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_left_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_right_2_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_right_2_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_right_3_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_right_3_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"floor_1_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_1_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"floor_2_room": {
|
| 250 |
+
"cls": "Floor"
|
| 251 |
+
},
|
| 252 |
+
"floor_2_backing_room": {
|
| 253 |
+
"cls": "Floor"
|
| 254 |
+
},
|
| 255 |
+
"wallaccessory.001_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wallaccessory.005_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wallaccessory_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"wallaccessory.003_room": {
|
| 265 |
+
"cls": "WallAccessory"
|
| 266 |
+
},
|
| 267 |
+
"wallaccessory.004_room": {
|
| 268 |
+
"cls": "WallAccessory"
|
| 269 |
+
},
|
| 270 |
+
"wallaccessory.002_room": {
|
| 271 |
+
"cls": "WallAccessory"
|
| 272 |
+
},
|
| 273 |
+
"window_group_1_room": {
|
| 274 |
+
"cls": "Window"
|
| 275 |
+
},
|
| 276 |
+
"window_group_2_room": {
|
| 277 |
+
"cls": "Window"
|
| 278 |
+
},
|
| 279 |
+
"stool_1_room": {
|
| 280 |
+
"cls": "Stool"
|
| 281 |
+
},
|
| 282 |
+
"stool_2_room": {
|
| 283 |
+
"cls": "Stool"
|
| 284 |
+
},
|
| 285 |
+
"stool_3_room": {
|
| 286 |
+
"cls": "Stool"
|
| 287 |
+
},
|
| 288 |
+
"counter_corner_1_main_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"sink_main_group_1": {
|
| 292 |
+
"cls": "Sink"
|
| 293 |
+
},
|
| 294 |
+
"counter_1_main_group_1": {
|
| 295 |
+
"cls": "Counter"
|
| 296 |
+
},
|
| 297 |
+
"singlecabinet_1_main_group_1": {
|
| 298 |
+
"cls": "SingleCabinet"
|
| 299 |
+
},
|
| 300 |
+
"cube_main_group_1": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"singlecabinet_2_main_group_1": {
|
| 304 |
+
"cls": "SingleCabinet"
|
| 305 |
+
},
|
| 306 |
+
"hingecabinet_1_main_group_1": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_1_main_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_1_main_group_1_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"cube_1_main_group_1": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"dishwasher_1_main_group_1": {
|
| 319 |
+
"cls": "Dishwasher"
|
| 320 |
+
},
|
| 321 |
+
"fridgesidebyside_main_group_1": {
|
| 322 |
+
"cls": "FridgeSideBySide"
|
| 323 |
+
},
|
| 324 |
+
"fridgesidebyside_housing_main_group_1": {
|
| 325 |
+
"cls": "HousingCabinet"
|
| 326 |
+
},
|
| 327 |
+
"toaster_main_group_1": {
|
| 328 |
+
"cls": "Toaster"
|
| 329 |
+
},
|
| 330 |
+
"papertowel_main_group_1": {
|
| 331 |
+
"cls": "Accessory"
|
| 332 |
+
},
|
| 333 |
+
"counter_1_left_group_1": {
|
| 334 |
+
"cls": "Counter"
|
| 335 |
+
},
|
| 336 |
+
"stove_left_group_1": {
|
| 337 |
+
"cls": "Stove"
|
| 338 |
+
},
|
| 339 |
+
"microwave_left_group_1": {
|
| 340 |
+
"cls": "Microwave"
|
| 341 |
+
},
|
| 342 |
+
"micro_cab_left_group_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"counter_2_left_group_1": {
|
| 346 |
+
"cls": "Counter"
|
| 347 |
+
},
|
| 348 |
+
"singlecabinet_1_left_group_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"hingecabinet_1_left_group_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"cube_3_left_group_1": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"cube_4_left_group_1": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_left_group_1_base": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"stack_1_left_group_1_1": {
|
| 364 |
+
"cls": "SingleCabinet"
|
| 365 |
+
},
|
| 366 |
+
"stack_1_left_group_1_2": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_left_group_1_base": {
|
| 370 |
+
"cls": "Box"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_left_group_1_1": {
|
| 373 |
+
"cls": "SingleCabinet"
|
| 374 |
+
},
|
| 375 |
+
"stack_2_left_group_1_2": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"cube_1_left_group_1": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"cube_2_left_group_1": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"coffee_machine_left_group_1": {
|
| 385 |
+
"cls": "CoffeeMachine"
|
| 386 |
+
},
|
| 387 |
+
"island_island_group_1": {
|
| 388 |
+
"cls": "Counter"
|
| 389 |
+
},
|
| 390 |
+
"cube_island_group_1": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"cube_2_island_group_1": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"cube_3_island_group_1": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"cube_4_island_group_1": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
}
|
| 402 |
+
},
|
| 403 |
+
"gen_textures": {},
|
| 404 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 405 |
+
"fixture_refs": {
|
| 406 |
+
"cabinet": "singlecabinet_1_left_group_1",
|
| 407 |
+
"drawer": "stack_2_left_group_1_2",
|
| 408 |
+
"counter": "counter_1_main_group_1"
|
| 409 |
+
},
|
| 410 |
+
"cam_configs": {
|
| 411 |
+
"robot0_agentview_center": {
|
| 412 |
+
"pos": [
|
| 413 |
+
-0.6,
|
| 414 |
+
0.0,
|
| 415 |
+
1.15
|
| 416 |
+
],
|
| 417 |
+
"quat": [
|
| 418 |
+
0.636945903301239,
|
| 419 |
+
0.3325185477733612,
|
| 420 |
+
-0.3199238181114197,
|
| 421 |
+
-0.6175596117973328
|
| 422 |
+
],
|
| 423 |
+
"parent_body": "mobilebase0_support"
|
| 424 |
+
},
|
| 425 |
+
"robot0_agentview_left": {
|
| 426 |
+
"pos": [
|
| 427 |
+
-0.5,
|
| 428 |
+
0.35,
|
| 429 |
+
1.05
|
| 430 |
+
],
|
| 431 |
+
"quat": [
|
| 432 |
+
0.55623853,
|
| 433 |
+
0.29935253,
|
| 434 |
+
-0.37678665,
|
| 435 |
+
-0.6775092
|
| 436 |
+
],
|
| 437 |
+
"camera_attribs": {
|
| 438 |
+
"fovy": "60"
|
| 439 |
+
},
|
| 440 |
+
"parent_body": "mobilebase0_support"
|
| 441 |
+
},
|
| 442 |
+
"robot0_agentview_right": {
|
| 443 |
+
"pos": [
|
| 444 |
+
-0.5,
|
| 445 |
+
-0.35,
|
| 446 |
+
1.05
|
| 447 |
+
],
|
| 448 |
+
"quat": [
|
| 449 |
+
0.6775091886520386,
|
| 450 |
+
0.3767866790294647,
|
| 451 |
+
-0.2993525564670563,
|
| 452 |
+
-0.55623859167099
|
| 453 |
+
],
|
| 454 |
+
"camera_attribs": {
|
| 455 |
+
"fovy": "60"
|
| 456 |
+
},
|
| 457 |
+
"parent_body": "mobilebase0_support"
|
| 458 |
+
},
|
| 459 |
+
"robot0_frontview": {
|
| 460 |
+
"pos": [
|
| 461 |
+
-0.5,
|
| 462 |
+
0,
|
| 463 |
+
0.95
|
| 464 |
+
],
|
| 465 |
+
"quat": [
|
| 466 |
+
0.6088936924934387,
|
| 467 |
+
0.3814677894115448,
|
| 468 |
+
-0.3673907518386841,
|
| 469 |
+
-0.5905545353889465
|
| 470 |
+
],
|
| 471 |
+
"camera_attribs": {
|
| 472 |
+
"fovy": "60"
|
| 473 |
+
},
|
| 474 |
+
"parent_body": "mobilebase0_support"
|
| 475 |
+
},
|
| 476 |
+
"robot0_eye_in_hand": {
|
| 477 |
+
"pos": [
|
| 478 |
+
0.05,
|
| 479 |
+
0,
|
| 480 |
+
0
|
| 481 |
+
],
|
| 482 |
+
"quat": [
|
| 483 |
+
0,
|
| 484 |
+
0.707107,
|
| 485 |
+
0.707107,
|
| 486 |
+
0
|
| 487 |
+
],
|
| 488 |
+
"parent_body": "robot0_right_hand"
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
"init_robot_base_pos": [
|
| 492 |
+
3.8820775646037062,
|
| 493 |
+
-0.7835471812459732,
|
| 494 |
+
0.0
|
| 495 |
+
],
|
| 496 |
+
"init_robot_base_ori": [
|
| 497 |
+
0.0,
|
| 498 |
+
0.0,
|
| 499 |
+
1.5707963267948966
|
| 500 |
+
]
|
| 501 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000076/ep_meta.json
ADDED
|
@@ -0,0 +1,573 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 16,
|
| 3 |
+
"style_id": 30,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_right_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.296649546076814,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
1.1766752269615939,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_1"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_right_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.296649546076814,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
1.1766752269615939,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_1"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_right_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.296649546076814,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
1.1766752269615939,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_1"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_right_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.296649546076814,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
1.1766752269615939,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_1"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_3_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_3_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_1_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_left_1_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_left_4_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_left_4_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"wall_left_5_room": {
|
| 244 |
+
"cls": "Wall"
|
| 245 |
+
},
|
| 246 |
+
"wall_left_5_backing_room": {
|
| 247 |
+
"cls": "Wall"
|
| 248 |
+
},
|
| 249 |
+
"wall_right_3_room": {
|
| 250 |
+
"cls": "Wall"
|
| 251 |
+
},
|
| 252 |
+
"wall_right_3_backing_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"wall_right_2_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_right_2_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_right_4_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_4_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"floor_1_room": {
|
| 268 |
+
"cls": "Floor"
|
| 269 |
+
},
|
| 270 |
+
"floor_1_backing_room": {
|
| 271 |
+
"cls": "Floor"
|
| 272 |
+
},
|
| 273 |
+
"floor_2_room": {
|
| 274 |
+
"cls": "Floor"
|
| 275 |
+
},
|
| 276 |
+
"floor_2_backing_room": {
|
| 277 |
+
"cls": "Floor"
|
| 278 |
+
},
|
| 279 |
+
"wall_accessory_1_room": {
|
| 280 |
+
"cls": "WallAccessory"
|
| 281 |
+
},
|
| 282 |
+
"wall_accessory_2_room": {
|
| 283 |
+
"cls": "WallAccessory"
|
| 284 |
+
},
|
| 285 |
+
"wall_accessory_3_room": {
|
| 286 |
+
"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
+
"light_switch_1_room": {
|
| 289 |
+
"cls": "WallAccessory"
|
| 290 |
+
},
|
| 291 |
+
"light_switch_2_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"stool_1_room": {
|
| 295 |
+
"cls": "Stool"
|
| 296 |
+
},
|
| 297 |
+
"stool_2_room": {
|
| 298 |
+
"cls": "Stool"
|
| 299 |
+
},
|
| 300 |
+
"stool_3_room": {
|
| 301 |
+
"cls": "Stool"
|
| 302 |
+
},
|
| 303 |
+
"counter_1_main_group_1": {
|
| 304 |
+
"cls": "Counter"
|
| 305 |
+
},
|
| 306 |
+
"stove_main_group_1": {
|
| 307 |
+
"cls": "Stove"
|
| 308 |
+
},
|
| 309 |
+
"counter_corner_main_group_1": {
|
| 310 |
+
"cls": "Counter"
|
| 311 |
+
},
|
| 312 |
+
"stack_1_main_group_1_base": {
|
| 313 |
+
"cls": "Box"
|
| 314 |
+
},
|
| 315 |
+
"stack_1_main_group_1_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"fridge_1_main_group_1": {
|
| 319 |
+
"cls": "FridgeFrenchDoor"
|
| 320 |
+
},
|
| 321 |
+
"fridge_1_housing_main_group_1": {
|
| 322 |
+
"cls": "HousingCabinet"
|
| 323 |
+
},
|
| 324 |
+
"fridge_top_main_group_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"cab_1_main_group_1": {
|
| 328 |
+
"cls": "SingleCabinet"
|
| 329 |
+
},
|
| 330 |
+
"cab_corner_main_group_1": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"microwave_main_group_1": {
|
| 334 |
+
"cls": "Microwave"
|
| 335 |
+
},
|
| 336 |
+
"cab_2_main_group_1": {
|
| 337 |
+
"cls": "HingeCabinet"
|
| 338 |
+
},
|
| 339 |
+
"cab_3_main_group_1": {
|
| 340 |
+
"cls": "SingleCabinet"
|
| 341 |
+
},
|
| 342 |
+
"paper_towel_main_group_1": {
|
| 343 |
+
"cls": "Accessory"
|
| 344 |
+
},
|
| 345 |
+
"sink_1_right_group_1": {
|
| 346 |
+
"cls": "Sink"
|
| 347 |
+
},
|
| 348 |
+
"counter_1_right_group_1": {
|
| 349 |
+
"cls": "Counter"
|
| 350 |
+
},
|
| 351 |
+
"box_1_right_group_1": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_1_right_group_1_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_right_group_1_1": {
|
| 358 |
+
"cls": "HingeCabinet"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_right_group_1_2": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_1_right_group_1_3": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_2_right_group_1_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_right_group_1_1": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_right_group_1_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_2_right_group_1_3": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"stack_3_right_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_3_right_group_1_1": {
|
| 382 |
+
"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
+
"stack_3_right_group_1_2": {
|
| 385 |
+
"cls": "PanelCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_4_right_group_1_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_4_right_group_1_1": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_4_right_group_1_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_4_right_group_1_3": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_5_right_group_1_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_5_right_group_1_1": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_5_right_group_1_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_5_right_group_1_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"dishwasher_right_group_1": {
|
| 412 |
+
"cls": "Dishwasher"
|
| 413 |
+
},
|
| 414 |
+
"panel_stack_right_group_1_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"panel_stack_right_group_1_1": {
|
| 418 |
+
"cls": "PanelCabinet"
|
| 419 |
+
},
|
| 420 |
+
"cab_1_right_group_1": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"cab_2_right_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"coffee_machine_right_group_1": {
|
| 427 |
+
"cls": "CoffeeMachine"
|
| 428 |
+
},
|
| 429 |
+
"toaster_oven_right_group_1": {
|
| 430 |
+
"cls": "ToasterOven"
|
| 431 |
+
},
|
| 432 |
+
"toaster_right_group_1": {
|
| 433 |
+
"cls": "Toaster"
|
| 434 |
+
},
|
| 435 |
+
"island_island_group": {
|
| 436 |
+
"cls": "Counter"
|
| 437 |
+
},
|
| 438 |
+
"stack_1_island_group_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
+
"stack_1_island_group_1": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_1_island_group_2": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"box_1_island_group": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"box_2_island_group": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_2_island_group_base": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"stack_2_island_group_1": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"stack_2_island_group_2": {
|
| 460 |
+
"cls": "Drawer"
|
| 461 |
+
},
|
| 462 |
+
"stack_2_island_group_3": {
|
| 463 |
+
"cls": "Drawer"
|
| 464 |
+
},
|
| 465 |
+
"stack_3_island_group_base": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"stack_3_island_group_1": {
|
| 469 |
+
"cls": "Drawer"
|
| 470 |
+
},
|
| 471 |
+
"stack_3_island_group_2": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"gen_textures": {},
|
| 476 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 477 |
+
"fixture_refs": {
|
| 478 |
+
"cabinet": "cab_3_main_group_1",
|
| 479 |
+
"drawer": "stack_4_right_group_1_3",
|
| 480 |
+
"counter": "counter_1_right_group_1"
|
| 481 |
+
},
|
| 482 |
+
"cam_configs": {
|
| 483 |
+
"robot0_agentview_center": {
|
| 484 |
+
"pos": [
|
| 485 |
+
-0.6,
|
| 486 |
+
0.0,
|
| 487 |
+
1.15
|
| 488 |
+
],
|
| 489 |
+
"quat": [
|
| 490 |
+
0.636945903301239,
|
| 491 |
+
0.3325185477733612,
|
| 492 |
+
-0.3199238181114197,
|
| 493 |
+
-0.6175596117973328
|
| 494 |
+
],
|
| 495 |
+
"parent_body": "mobilebase0_support"
|
| 496 |
+
},
|
| 497 |
+
"robot0_agentview_left": {
|
| 498 |
+
"pos": [
|
| 499 |
+
-0.5,
|
| 500 |
+
0.35,
|
| 501 |
+
1.05
|
| 502 |
+
],
|
| 503 |
+
"quat": [
|
| 504 |
+
0.55623853,
|
| 505 |
+
0.29935253,
|
| 506 |
+
-0.37678665,
|
| 507 |
+
-0.6775092
|
| 508 |
+
],
|
| 509 |
+
"camera_attribs": {
|
| 510 |
+
"fovy": "60"
|
| 511 |
+
},
|
| 512 |
+
"parent_body": "mobilebase0_support"
|
| 513 |
+
},
|
| 514 |
+
"robot0_agentview_right": {
|
| 515 |
+
"pos": [
|
| 516 |
+
-0.5,
|
| 517 |
+
-0.35,
|
| 518 |
+
1.05
|
| 519 |
+
],
|
| 520 |
+
"quat": [
|
| 521 |
+
0.6775091886520386,
|
| 522 |
+
0.3767866790294647,
|
| 523 |
+
-0.2993525564670563,
|
| 524 |
+
-0.55623859167099
|
| 525 |
+
],
|
| 526 |
+
"camera_attribs": {
|
| 527 |
+
"fovy": "60"
|
| 528 |
+
},
|
| 529 |
+
"parent_body": "mobilebase0_support"
|
| 530 |
+
},
|
| 531 |
+
"robot0_frontview": {
|
| 532 |
+
"pos": [
|
| 533 |
+
-0.5,
|
| 534 |
+
0,
|
| 535 |
+
0.95
|
| 536 |
+
],
|
| 537 |
+
"quat": [
|
| 538 |
+
0.6088936924934387,
|
| 539 |
+
0.3814677894115448,
|
| 540 |
+
-0.3673907518386841,
|
| 541 |
+
-0.5905545353889465
|
| 542 |
+
],
|
| 543 |
+
"camera_attribs": {
|
| 544 |
+
"fovy": "60"
|
| 545 |
+
},
|
| 546 |
+
"parent_body": "mobilebase0_support"
|
| 547 |
+
},
|
| 548 |
+
"robot0_eye_in_hand": {
|
| 549 |
+
"pos": [
|
| 550 |
+
0.05,
|
| 551 |
+
0,
|
| 552 |
+
0
|
| 553 |
+
],
|
| 554 |
+
"quat": [
|
| 555 |
+
0,
|
| 556 |
+
0.707107,
|
| 557 |
+
0.707107,
|
| 558 |
+
0
|
| 559 |
+
],
|
| 560 |
+
"parent_body": "robot0_right_hand"
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"init_robot_base_pos": [
|
| 564 |
+
2.210497376328537,
|
| 565 |
+
-4.12965515840341,
|
| 566 |
+
0.0
|
| 567 |
+
],
|
| 568 |
+
"init_robot_base_ori": [
|
| 569 |
+
0.0,
|
| 570 |
+
0.0,
|
| 571 |
+
3.422854288892552e-08
|
| 572 |
+
]
|
| 573 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000078/ep_meta.json
ADDED
|
@@ -0,0 +1,525 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 32,
|
| 3 |
+
"style_id": 37,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "island_island_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.38484,
|
| 43 |
+
0.96
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "island_island_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.38484,
|
| 91 |
+
0.96
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "island_island_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.38484,
|
| 143 |
+
0.96
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "island_island_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_17/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.38484,
|
| 195 |
+
0.96
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_main_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_main_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"floor_1_room": {
|
| 232 |
+
"cls": "Floor"
|
| 233 |
+
},
|
| 234 |
+
"floor_1_backing_room": {
|
| 235 |
+
"cls": "Floor"
|
| 236 |
+
},
|
| 237 |
+
"floor_2_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_2_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"window_group_room": {
|
| 244 |
+
"cls": "Window"
|
| 245 |
+
},
|
| 246 |
+
"stool_1_room": {
|
| 247 |
+
"cls": "Stool"
|
| 248 |
+
},
|
| 249 |
+
"stool_2_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stool_3_room": {
|
| 253 |
+
"cls": "Stool"
|
| 254 |
+
},
|
| 255 |
+
"sink_main_group_1": {
|
| 256 |
+
"cls": "Sink"
|
| 257 |
+
},
|
| 258 |
+
"counter_1_main_group_1": {
|
| 259 |
+
"cls": "Counter"
|
| 260 |
+
},
|
| 261 |
+
"counter_corner_1_main_group_1": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
+
},
|
| 264 |
+
"opencabinet_1_main_group_1": {
|
| 265 |
+
"cls": "OpenCabinet"
|
| 266 |
+
},
|
| 267 |
+
"stack_1_main_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_1_main_group_1_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"stack_2_main_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_2_main_group_1_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_2_main_group_1_2": {
|
| 280 |
+
"cls": "PanelCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cube_1_main_group_1": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"cube_2_main_group_1": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"cube_3_main_group_1": {
|
| 289 |
+
"cls": "Box"
|
| 290 |
+
},
|
| 291 |
+
"dishwasher_1_main_group_1": {
|
| 292 |
+
"cls": "Dishwasher"
|
| 293 |
+
},
|
| 294 |
+
"knifeblock_main_group_1": {
|
| 295 |
+
"cls": "Accessory"
|
| 296 |
+
},
|
| 297 |
+
"toaster_main_group_1": {
|
| 298 |
+
"cls": "Toaster"
|
| 299 |
+
},
|
| 300 |
+
"counter_1_right_group_1": {
|
| 301 |
+
"cls": "Counter"
|
| 302 |
+
},
|
| 303 |
+
"widestove_right_group_1": {
|
| 304 |
+
"cls": "Stove"
|
| 305 |
+
},
|
| 306 |
+
"widestove_hood_right_group_1": {
|
| 307 |
+
"cls": "Hood"
|
| 308 |
+
},
|
| 309 |
+
"singlecabinet_1_right_group_1": {
|
| 310 |
+
"cls": "SingleCabinet"
|
| 311 |
+
},
|
| 312 |
+
"singlecabinet_2_right_group_1": {
|
| 313 |
+
"cls": "SingleCabinet"
|
| 314 |
+
},
|
| 315 |
+
"singlecabinet_3_right_group_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"bottom_right_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"bottom_right_group_1_1": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"microwave_right_group_1": {
|
| 325 |
+
"cls": "Microwave"
|
| 326 |
+
},
|
| 327 |
+
"counter_2_right_group_1": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
+
},
|
| 330 |
+
"fridgesidebyside_right_group_1": {
|
| 331 |
+
"cls": "FridgeSideBySide"
|
| 332 |
+
},
|
| 333 |
+
"fridgesidebyside_housing_right_group_1": {
|
| 334 |
+
"cls": "HousingCabinet"
|
| 335 |
+
},
|
| 336 |
+
"hingecabinet_1_right_group_1": {
|
| 337 |
+
"cls": "HingeCabinet"
|
| 338 |
+
},
|
| 339 |
+
"oven_cabinet_right_group_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"microwave_housing_right_group_1": {
|
| 343 |
+
"cls": "HousingCabinet"
|
| 344 |
+
},
|
| 345 |
+
"top_right_group_1": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cube_1_right_group_1": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"cube_2_right_group_1": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_1_right_group_1_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_right_group_1_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"stack_1_right_group_1_2": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_2_right_group_1_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_2_right_group_1_1": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"stack_2_right_group_1_2": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_right_group_1_3": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"coffee_machine_right_group_1": {
|
| 376 |
+
"cls": "CoffeeMachine"
|
| 377 |
+
},
|
| 378 |
+
"island_island_group_1": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"cube_1_island_group_1": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_3_island_group_1_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_3_island_group_1_1": {
|
| 388 |
+
"cls": "PanelCabinet"
|
| 389 |
+
},
|
| 390 |
+
"stack_1_island_group_1_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"stack_1_island_group_1_1": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_1_island_group_1_2": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_1_island_group_1_3": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_4_island_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_4_island_group_1_1": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_2_island_group_1_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_island_group_1_1": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_island_group_1_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_island_group_1_3": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"papertowel_island_group_1": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"plant_island_group_1": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"gen_textures": {},
|
| 428 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 429 |
+
"fixture_refs": {
|
| 430 |
+
"cabinet": "singlecabinet_1_right_group_1",
|
| 431 |
+
"drawer": "stack_1_right_group_1_2",
|
| 432 |
+
"counter": "island_island_group_1"
|
| 433 |
+
},
|
| 434 |
+
"cam_configs": {
|
| 435 |
+
"robot0_agentview_center": {
|
| 436 |
+
"pos": [
|
| 437 |
+
-0.6,
|
| 438 |
+
0.0,
|
| 439 |
+
1.15
|
| 440 |
+
],
|
| 441 |
+
"quat": [
|
| 442 |
+
0.636945903301239,
|
| 443 |
+
0.3325185477733612,
|
| 444 |
+
-0.3199238181114197,
|
| 445 |
+
-0.6175596117973328
|
| 446 |
+
],
|
| 447 |
+
"parent_body": "mobilebase0_support"
|
| 448 |
+
},
|
| 449 |
+
"robot0_agentview_left": {
|
| 450 |
+
"pos": [
|
| 451 |
+
-0.5,
|
| 452 |
+
0.35,
|
| 453 |
+
1.05
|
| 454 |
+
],
|
| 455 |
+
"quat": [
|
| 456 |
+
0.55623853,
|
| 457 |
+
0.29935253,
|
| 458 |
+
-0.37678665,
|
| 459 |
+
-0.6775092
|
| 460 |
+
],
|
| 461 |
+
"camera_attribs": {
|
| 462 |
+
"fovy": "60"
|
| 463 |
+
},
|
| 464 |
+
"parent_body": "mobilebase0_support"
|
| 465 |
+
},
|
| 466 |
+
"robot0_agentview_right": {
|
| 467 |
+
"pos": [
|
| 468 |
+
-0.5,
|
| 469 |
+
-0.35,
|
| 470 |
+
1.05
|
| 471 |
+
],
|
| 472 |
+
"quat": [
|
| 473 |
+
0.6775091886520386,
|
| 474 |
+
0.3767866790294647,
|
| 475 |
+
-0.2993525564670563,
|
| 476 |
+
-0.55623859167099
|
| 477 |
+
],
|
| 478 |
+
"camera_attribs": {
|
| 479 |
+
"fovy": "60"
|
| 480 |
+
},
|
| 481 |
+
"parent_body": "mobilebase0_support"
|
| 482 |
+
},
|
| 483 |
+
"robot0_frontview": {
|
| 484 |
+
"pos": [
|
| 485 |
+
-0.5,
|
| 486 |
+
0,
|
| 487 |
+
0.95
|
| 488 |
+
],
|
| 489 |
+
"quat": [
|
| 490 |
+
0.6088936924934387,
|
| 491 |
+
0.3814677894115448,
|
| 492 |
+
-0.3673907518386841,
|
| 493 |
+
-0.5905545353889465
|
| 494 |
+
],
|
| 495 |
+
"camera_attribs": {
|
| 496 |
+
"fovy": "60"
|
| 497 |
+
},
|
| 498 |
+
"parent_body": "mobilebase0_support"
|
| 499 |
+
},
|
| 500 |
+
"robot0_eye_in_hand": {
|
| 501 |
+
"pos": [
|
| 502 |
+
0.05,
|
| 503 |
+
0,
|
| 504 |
+
0
|
| 505 |
+
],
|
| 506 |
+
"quat": [
|
| 507 |
+
0,
|
| 508 |
+
0.707107,
|
| 509 |
+
0.707107,
|
| 510 |
+
0
|
| 511 |
+
],
|
| 512 |
+
"parent_body": "robot0_right_hand"
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"init_robot_base_pos": [
|
| 516 |
+
2.318259133841312,
|
| 517 |
+
-3.683544562091666,
|
| 518 |
+
0.0
|
| 519 |
+
],
|
| 520 |
+
"init_robot_base_ori": [
|
| 521 |
+
0.0,
|
| 522 |
+
0.0,
|
| 523 |
+
3.14159329371052
|
| 524 |
+
]
|
| 525 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000079/ep_meta.json
ADDED
|
@@ -0,0 +1,705 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 39,
|
| 3 |
+
"style_id": 33,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_front_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
3.25,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_front_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon001/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
3.25,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_front_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
3.25,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_front_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_13/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
3.25,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_main_2_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_main_2_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_right_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_right_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_front_1_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_front_1_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_front_5_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_front_5_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"wall_right_5_room": {
|
| 244 |
+
"cls": "Wall"
|
| 245 |
+
},
|
| 246 |
+
"wall_right_5_backing_room": {
|
| 247 |
+
"cls": "Wall"
|
| 248 |
+
},
|
| 249 |
+
"wall_front_4_room": {
|
| 250 |
+
"cls": "Wall"
|
| 251 |
+
},
|
| 252 |
+
"wall_front_4_backing_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"wall_right_4_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_right_4_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_right_3_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_3_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_front_3_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_front_3_backing_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_front_2_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_front_2_backing_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"wall_front_6_room": {
|
| 280 |
+
"cls": "Wall"
|
| 281 |
+
},
|
| 282 |
+
"wall_front_6_backing_room": {
|
| 283 |
+
"cls": "Wall"
|
| 284 |
+
},
|
| 285 |
+
"wall_front_7_room": {
|
| 286 |
+
"cls": "Wall"
|
| 287 |
+
},
|
| 288 |
+
"wall_front_7_backing_room": {
|
| 289 |
+
"cls": "Wall"
|
| 290 |
+
},
|
| 291 |
+
"floor_1_room": {
|
| 292 |
+
"cls": "Floor"
|
| 293 |
+
},
|
| 294 |
+
"floor_1_backing_room": {
|
| 295 |
+
"cls": "Floor"
|
| 296 |
+
},
|
| 297 |
+
"floor_2_room": {
|
| 298 |
+
"cls": "Floor"
|
| 299 |
+
},
|
| 300 |
+
"floor_2_backing_room": {
|
| 301 |
+
"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
+
"floor_3_room": {
|
| 304 |
+
"cls": "Floor"
|
| 305 |
+
},
|
| 306 |
+
"floor_3_backing_room": {
|
| 307 |
+
"cls": "Floor"
|
| 308 |
+
},
|
| 309 |
+
"wallaccessory_2_room": {
|
| 310 |
+
"cls": "WallAccessory"
|
| 311 |
+
},
|
| 312 |
+
"wallaccessory_1_room": {
|
| 313 |
+
"cls": "WallAccessory"
|
| 314 |
+
},
|
| 315 |
+
"wallaccessory_4_room": {
|
| 316 |
+
"cls": "WallAccessory"
|
| 317 |
+
},
|
| 318 |
+
"wallaccessory_3_room": {
|
| 319 |
+
"cls": "WallAccessory"
|
| 320 |
+
},
|
| 321 |
+
"lightswitch_room": {
|
| 322 |
+
"cls": "WallAccessory"
|
| 323 |
+
},
|
| 324 |
+
"wallaccessory_5_room": {
|
| 325 |
+
"cls": "WallAccessory"
|
| 326 |
+
},
|
| 327 |
+
"wallaccessory_6.001_room": {
|
| 328 |
+
"cls": "WallAccessory"
|
| 329 |
+
},
|
| 330 |
+
"window_group_room": {
|
| 331 |
+
"cls": "Window"
|
| 332 |
+
},
|
| 333 |
+
"sink_main_group_1": {
|
| 334 |
+
"cls": "Sink"
|
| 335 |
+
},
|
| 336 |
+
"counter_1_main_group_1": {
|
| 337 |
+
"cls": "Counter"
|
| 338 |
+
},
|
| 339 |
+
"fridgefrenchdoor_main_group_1": {
|
| 340 |
+
"cls": "FridgeFrenchDoor"
|
| 341 |
+
},
|
| 342 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 343 |
+
"cls": "HousingCabinet"
|
| 344 |
+
},
|
| 345 |
+
"hingecabinet_1_main_group_1": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"singlecabinet_5_main_group_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"singlecabinet_4_main_group_1": {
|
| 352 |
+
"cls": "SingleCabinet"
|
| 353 |
+
},
|
| 354 |
+
"singlecabinet_1_main_group_1": {
|
| 355 |
+
"cls": "SingleCabinet"
|
| 356 |
+
},
|
| 357 |
+
"singlecabinet_2_main_group_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"singlecabinet_3_main_group_1": {
|
| 361 |
+
"cls": "SingleCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_1_main_group_1_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_1_main_group_1_1": {
|
| 367 |
+
"cls": "SingleCabinet"
|
| 368 |
+
},
|
| 369 |
+
"stack_1_main_group_1_2": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_2_main_group_1_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_2_main_group_1_1": {
|
| 376 |
+
"cls": "SingleCabinet"
|
| 377 |
+
},
|
| 378 |
+
"stack_2_main_group_1_2": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_3_main_group_1_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_3_main_group_1_1": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_3_main_group_1_2": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"stack_3_main_group_1_3": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_4_main_group_1_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_4_main_group_1_1": {
|
| 397 |
+
"cls": "SingleCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_4_main_group_1_2": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"cube_1_main_group_1": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_5_main_group_1_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_5_main_group_1_1": {
|
| 409 |
+
"cls": "SingleCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_5_main_group_1_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_6_main_group_1_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_6_main_group_1_1": {
|
| 418 |
+
"cls": "SingleCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_6_main_group_1_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_7_main_group_1_base": {
|
| 424 |
+
"cls": "Box"
|
| 425 |
+
},
|
| 426 |
+
"stack_7_main_group_1_1": {
|
| 427 |
+
"cls": "HingeCabinet"
|
| 428 |
+
},
|
| 429 |
+
"stack_7_main_group_1_2": {
|
| 430 |
+
"cls": "PanelCabinet"
|
| 431 |
+
},
|
| 432 |
+
"dishwasher_1_main_group_1": {
|
| 433 |
+
"cls": "Dishwasher"
|
| 434 |
+
},
|
| 435 |
+
"toaster_main_group_1": {
|
| 436 |
+
"cls": "Toaster"
|
| 437 |
+
},
|
| 438 |
+
"knifeblock_main_group_1": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"papertowel_main_group_1": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"stovetop_island_group_1": {
|
| 445 |
+
"cls": "Stovetop"
|
| 446 |
+
},
|
| 447 |
+
"island_island_group_1": {
|
| 448 |
+
"cls": "Counter"
|
| 449 |
+
},
|
| 450 |
+
"stack_1_island_group_1_base": {
|
| 451 |
+
"cls": "Box"
|
| 452 |
+
},
|
| 453 |
+
"stack_1_island_group_1_1": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"stack_1_island_group_1_2": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"stack_2_island_group_1_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_2_island_group_1_1": {
|
| 463 |
+
"cls": "SingleCabinet"
|
| 464 |
+
},
|
| 465 |
+
"stack_2_island_group_1_2": {
|
| 466 |
+
"cls": "Drawer"
|
| 467 |
+
},
|
| 468 |
+
"stack_3_island_group_1_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_3_island_group_1_1": {
|
| 472 |
+
"cls": "SingleCabinet"
|
| 473 |
+
},
|
| 474 |
+
"stack_3_island_group_1_2": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_4_island_group_1_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_4_island_group_1_1": {
|
| 481 |
+
"cls": "SingleCabinet"
|
| 482 |
+
},
|
| 483 |
+
"stack_4_island_group_1_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_5_island_group_2.001_base": {
|
| 487 |
+
"cls": "Box"
|
| 488 |
+
},
|
| 489 |
+
"stack_5_island_group_2.001_1": {
|
| 490 |
+
"cls": "SingleCabinet"
|
| 491 |
+
},
|
| 492 |
+
"stack_5_island_group_2.001_2": {
|
| 493 |
+
"cls": "Drawer"
|
| 494 |
+
},
|
| 495 |
+
"stack_6_island_group_2.001_base": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"stack_6_island_group_2.001_1": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"stack_6_island_group_2.001_2": {
|
| 502 |
+
"cls": "Drawer"
|
| 503 |
+
},
|
| 504 |
+
"stack_7_island_group_2.001_base": {
|
| 505 |
+
"cls": "Box"
|
| 506 |
+
},
|
| 507 |
+
"stack_7_island_group_2.001_1": {
|
| 508 |
+
"cls": "SingleCabinet"
|
| 509 |
+
},
|
| 510 |
+
"stack_7_island_group_2.001_2": {
|
| 511 |
+
"cls": "Drawer"
|
| 512 |
+
},
|
| 513 |
+
"stack_8_island_group_2.001_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"stack_8_island_group_2.001_1": {
|
| 517 |
+
"cls": "SingleCabinet"
|
| 518 |
+
},
|
| 519 |
+
"stack_8_island_group_2.001_2": {
|
| 520 |
+
"cls": "Drawer"
|
| 521 |
+
},
|
| 522 |
+
"counter_1_front_group_1": {
|
| 523 |
+
"cls": "Counter"
|
| 524 |
+
},
|
| 525 |
+
"hingecabinet_2_front_group_1": {
|
| 526 |
+
"cls": "HingeCabinet"
|
| 527 |
+
},
|
| 528 |
+
"hingecabinet_1_front_group_1": {
|
| 529 |
+
"cls": "HingeCabinet"
|
| 530 |
+
},
|
| 531 |
+
"stack_1_front_group_1_base": {
|
| 532 |
+
"cls": "Box"
|
| 533 |
+
},
|
| 534 |
+
"stack_1_front_group_1_1": {
|
| 535 |
+
"cls": "SingleCabinet"
|
| 536 |
+
},
|
| 537 |
+
"stack_1_front_group_1_2": {
|
| 538 |
+
"cls": "Drawer"
|
| 539 |
+
},
|
| 540 |
+
"stack_2_front_group_1_base": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
+
},
|
| 543 |
+
"stack_2_front_group_1_1": {
|
| 544 |
+
"cls": "SingleCabinet"
|
| 545 |
+
},
|
| 546 |
+
"stack_2_front_group_1_2": {
|
| 547 |
+
"cls": "Drawer"
|
| 548 |
+
},
|
| 549 |
+
"stack_3_front_group_1_base": {
|
| 550 |
+
"cls": "Box"
|
| 551 |
+
},
|
| 552 |
+
"stack_3_front_group_1_1": {
|
| 553 |
+
"cls": "SingleCabinet"
|
| 554 |
+
},
|
| 555 |
+
"stack_3_front_group_1_2": {
|
| 556 |
+
"cls": "Drawer"
|
| 557 |
+
},
|
| 558 |
+
"stack_4_front_group_1_base": {
|
| 559 |
+
"cls": "Box"
|
| 560 |
+
},
|
| 561 |
+
"stack_4_front_group_1_1": {
|
| 562 |
+
"cls": "SingleCabinet"
|
| 563 |
+
},
|
| 564 |
+
"stack_4_front_group_1_2": {
|
| 565 |
+
"cls": "Drawer"
|
| 566 |
+
},
|
| 567 |
+
"stack_5_front_group_1_base": {
|
| 568 |
+
"cls": "Box"
|
| 569 |
+
},
|
| 570 |
+
"stack_5_front_group_1_1": {
|
| 571 |
+
"cls": "Drawer"
|
| 572 |
+
},
|
| 573 |
+
"stack_5_front_group_1_2": {
|
| 574 |
+
"cls": "Drawer"
|
| 575 |
+
},
|
| 576 |
+
"stack_5_front_group_1_3": {
|
| 577 |
+
"cls": "Drawer"
|
| 578 |
+
},
|
| 579 |
+
"bottom_front_group_1_base": {
|
| 580 |
+
"cls": "Box"
|
| 581 |
+
},
|
| 582 |
+
"bottom_front_group_1_1": {
|
| 583 |
+
"cls": "Drawer"
|
| 584 |
+
},
|
| 585 |
+
"oven_front_group_1": {
|
| 586 |
+
"cls": "Oven"
|
| 587 |
+
},
|
| 588 |
+
"oven_housing_front_group_1": {
|
| 589 |
+
"cls": "HousingCabinet"
|
| 590 |
+
},
|
| 591 |
+
"microwave_front_group_1": {
|
| 592 |
+
"cls": "Microwave"
|
| 593 |
+
},
|
| 594 |
+
"microwave_housing_front_group_1": {
|
| 595 |
+
"cls": "HousingCabinet"
|
| 596 |
+
},
|
| 597 |
+
"top_front_group_1": {
|
| 598 |
+
"cls": "HingeCabinet"
|
| 599 |
+
},
|
| 600 |
+
"coffeemachine_front_group_1": {
|
| 601 |
+
"cls": "CoffeeMachine"
|
| 602 |
+
},
|
| 603 |
+
"toaster_oven_front_group_1": {
|
| 604 |
+
"cls": "ToasterOven"
|
| 605 |
+
}
|
| 606 |
+
},
|
| 607 |
+
"gen_textures": {},
|
| 608 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 609 |
+
"fixture_refs": {
|
| 610 |
+
"cabinet": "hingecabinet_2_front_group_1",
|
| 611 |
+
"drawer": "stack_4_main_group_1_2",
|
| 612 |
+
"counter": "counter_1_front_group_1"
|
| 613 |
+
},
|
| 614 |
+
"cam_configs": {
|
| 615 |
+
"robot0_agentview_center": {
|
| 616 |
+
"pos": [
|
| 617 |
+
-0.6,
|
| 618 |
+
0.0,
|
| 619 |
+
1.15
|
| 620 |
+
],
|
| 621 |
+
"quat": [
|
| 622 |
+
0.636945903301239,
|
| 623 |
+
0.3325185477733612,
|
| 624 |
+
-0.3199238181114197,
|
| 625 |
+
-0.6175596117973328
|
| 626 |
+
],
|
| 627 |
+
"parent_body": "mobilebase0_support"
|
| 628 |
+
},
|
| 629 |
+
"robot0_agentview_left": {
|
| 630 |
+
"pos": [
|
| 631 |
+
-0.5,
|
| 632 |
+
0.35,
|
| 633 |
+
1.05
|
| 634 |
+
],
|
| 635 |
+
"quat": [
|
| 636 |
+
0.55623853,
|
| 637 |
+
0.29935253,
|
| 638 |
+
-0.37678665,
|
| 639 |
+
-0.6775092
|
| 640 |
+
],
|
| 641 |
+
"camera_attribs": {
|
| 642 |
+
"fovy": "60"
|
| 643 |
+
},
|
| 644 |
+
"parent_body": "mobilebase0_support"
|
| 645 |
+
},
|
| 646 |
+
"robot0_agentview_right": {
|
| 647 |
+
"pos": [
|
| 648 |
+
-0.5,
|
| 649 |
+
-0.35,
|
| 650 |
+
1.05
|
| 651 |
+
],
|
| 652 |
+
"quat": [
|
| 653 |
+
0.6775091886520386,
|
| 654 |
+
0.3767866790294647,
|
| 655 |
+
-0.2993525564670563,
|
| 656 |
+
-0.55623859167099
|
| 657 |
+
],
|
| 658 |
+
"camera_attribs": {
|
| 659 |
+
"fovy": "60"
|
| 660 |
+
},
|
| 661 |
+
"parent_body": "mobilebase0_support"
|
| 662 |
+
},
|
| 663 |
+
"robot0_frontview": {
|
| 664 |
+
"pos": [
|
| 665 |
+
-0.5,
|
| 666 |
+
0,
|
| 667 |
+
0.95
|
| 668 |
+
],
|
| 669 |
+
"quat": [
|
| 670 |
+
0.6088936924934387,
|
| 671 |
+
0.3814677894115448,
|
| 672 |
+
-0.3673907518386841,
|
| 673 |
+
-0.5905545353889465
|
| 674 |
+
],
|
| 675 |
+
"camera_attribs": {
|
| 676 |
+
"fovy": "60"
|
| 677 |
+
},
|
| 678 |
+
"parent_body": "mobilebase0_support"
|
| 679 |
+
},
|
| 680 |
+
"robot0_eye_in_hand": {
|
| 681 |
+
"pos": [
|
| 682 |
+
0.05,
|
| 683 |
+
0,
|
| 684 |
+
0
|
| 685 |
+
],
|
| 686 |
+
"quat": [
|
| 687 |
+
0,
|
| 688 |
+
0.707107,
|
| 689 |
+
0.707107,
|
| 690 |
+
0
|
| 691 |
+
],
|
| 692 |
+
"parent_body": "robot0_right_hand"
|
| 693 |
+
}
|
| 694 |
+
},
|
| 695 |
+
"init_robot_base_pos": [
|
| 696 |
+
1.4905823697214675,
|
| 697 |
+
-5.550979571308927,
|
| 698 |
+
0.0
|
| 699 |
+
],
|
| 700 |
+
"init_robot_base_ori": [
|
| 701 |
+
0.0,
|
| 702 |
+
0.0,
|
| 703 |
+
-1.57079623937212
|
| 704 |
+
]
|
| 705 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000084/ep_meta.json
ADDED
|
@@ -0,0 +1,546 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 57,
|
| 3 |
+
"style_id": 57,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_left_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.372173,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_left_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.372173,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_left_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.372173,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_left_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"spoon",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "spoon",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.372173,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_right_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_right_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"floor_1_room": {
|
| 220 |
+
"cls": "Floor"
|
| 221 |
+
},
|
| 222 |
+
"floor_1_backing_room": {
|
| 223 |
+
"cls": "Floor"
|
| 224 |
+
},
|
| 225 |
+
"wallaccessory_3_room": {
|
| 226 |
+
"cls": "WallAccessory"
|
| 227 |
+
},
|
| 228 |
+
"wallaccessory_4_room": {
|
| 229 |
+
"cls": "WallAccessory"
|
| 230 |
+
},
|
| 231 |
+
"lightswitch_01_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"window_group_1_room": {
|
| 235 |
+
"cls": "Window"
|
| 236 |
+
},
|
| 237 |
+
"stool_1_room": {
|
| 238 |
+
"cls": "Stool"
|
| 239 |
+
},
|
| 240 |
+
"stool_2_room": {
|
| 241 |
+
"cls": "Stool"
|
| 242 |
+
},
|
| 243 |
+
"hingecabinet_2_main_group_1": {
|
| 244 |
+
"cls": "HingeCabinet"
|
| 245 |
+
},
|
| 246 |
+
"hingecabinet_3_main_group_1": {
|
| 247 |
+
"cls": "HingeCabinet"
|
| 248 |
+
},
|
| 249 |
+
"hingecabinet_4_main_group_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"singlecabinet_1_main_group_1": {
|
| 253 |
+
"cls": "SingleCabinet"
|
| 254 |
+
},
|
| 255 |
+
"sink_main_group_1": {
|
| 256 |
+
"cls": "Sink"
|
| 257 |
+
},
|
| 258 |
+
"counter_1_main_group_1": {
|
| 259 |
+
"cls": "Counter"
|
| 260 |
+
},
|
| 261 |
+
"cube_3_main_group_1": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_02_main_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_02_main_group_1_1": {
|
| 268 |
+
"cls": "SingleCabinet"
|
| 269 |
+
},
|
| 270 |
+
"stack_02_main_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_01_main_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_01_main_group_1_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_01_main_group_1_2": {
|
| 280 |
+
"cls": "PanelCabinet"
|
| 281 |
+
},
|
| 282 |
+
"stack_03_main_group_1_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_03_main_group_1_1": {
|
| 286 |
+
"cls": "SingleCabinet"
|
| 287 |
+
},
|
| 288 |
+
"dishwasher_1_main_group_1": {
|
| 289 |
+
"cls": "Dishwasher"
|
| 290 |
+
},
|
| 291 |
+
"cube_9_main_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"toaster_main_group_1": {
|
| 295 |
+
"cls": "Toaster"
|
| 296 |
+
},
|
| 297 |
+
"fridgesidebyside_main_group_1": {
|
| 298 |
+
"cls": "FridgeSideBySide"
|
| 299 |
+
},
|
| 300 |
+
"fridgesidebyside_housing_main_group_1": {
|
| 301 |
+
"cls": "HousingCabinet"
|
| 302 |
+
},
|
| 303 |
+
"hingecabinet_1_main_group_1": {
|
| 304 |
+
"cls": "HingeCabinet"
|
| 305 |
+
},
|
| 306 |
+
"bottom_main_group_1_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"bottom_main_group_1_1": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"oven_cabinet_main_group_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"microwave_main_group_1": {
|
| 316 |
+
"cls": "Microwave"
|
| 317 |
+
},
|
| 318 |
+
"microwave_housing_main_group_1": {
|
| 319 |
+
"cls": "HousingCabinet"
|
| 320 |
+
},
|
| 321 |
+
"top_main_group_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"hingecabinet_5_left_group_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"singlecabinet_2_left_group_1": {
|
| 328 |
+
"cls": "SingleCabinet"
|
| 329 |
+
},
|
| 330 |
+
"cube_4_left_group_1": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"counter_corner_1_left_group_1": {
|
| 334 |
+
"cls": "Counter"
|
| 335 |
+
},
|
| 336 |
+
"counter_2_left_group_1": {
|
| 337 |
+
"cls": "Counter"
|
| 338 |
+
},
|
| 339 |
+
"stack_04_left_group_1_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_04_left_group_1_1": {
|
| 343 |
+
"cls": "SingleCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_05_left_group_1_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_05_left_group_1_1": {
|
| 349 |
+
"cls": "Drawer"
|
| 350 |
+
},
|
| 351 |
+
"stack_05_left_group_1_2": {
|
| 352 |
+
"cls": "Drawer"
|
| 353 |
+
},
|
| 354 |
+
"stack_05_left_group_1_3": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"cube_10_left_group_1": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"cube_11_left_group_1": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"coffee_machine_left_group_1": {
|
| 364 |
+
"cls": "CoffeeMachine"
|
| 365 |
+
},
|
| 366 |
+
"paper_towel_left_group_1": {
|
| 367 |
+
"cls": "Accessory"
|
| 368 |
+
},
|
| 369 |
+
"island_1_island_group_1": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"island_2_island_group_1": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"island_3_island_group_1": {
|
| 376 |
+
"cls": "Counter"
|
| 377 |
+
},
|
| 378 |
+
"stove_island_group_1": {
|
| 379 |
+
"cls": "Stove"
|
| 380 |
+
},
|
| 381 |
+
"stove_hood_island_group_1": {
|
| 382 |
+
"cls": "Hood"
|
| 383 |
+
},
|
| 384 |
+
"cube_1_island_group_1": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"cube_2_island_group_1": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_07_island_group_1_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"stack_07_island_group_1_1": {
|
| 394 |
+
"cls": "SingleCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_07_island_group_1_2": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_06_island_group_1_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_06_island_group_1_1": {
|
| 403 |
+
"cls": "SingleCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_06_island_group_1_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_09_island_group_2_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_09_island_group_2_1": {
|
| 412 |
+
"cls": "SingleCabinet"
|
| 413 |
+
},
|
| 414 |
+
"stack_09_island_group_2_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_08_island_group_2_base": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"stack_08_island_group_2_1": {
|
| 421 |
+
"cls": "SingleCabinet"
|
| 422 |
+
},
|
| 423 |
+
"stack_08_island_group_2_2": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"stack_10_island_group_2_base": {
|
| 427 |
+
"cls": "Box"
|
| 428 |
+
},
|
| 429 |
+
"stack_10_island_group_2_1": {
|
| 430 |
+
"cls": "SingleCabinet"
|
| 431 |
+
},
|
| 432 |
+
"stack_10_island_group_2_2": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_11_island_group_2_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_11_island_group_2_1": {
|
| 439 |
+
"cls": "SingleCabinet"
|
| 440 |
+
},
|
| 441 |
+
"stack_11_island_group_2_2": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"cube_5_island_group_2": {
|
| 445 |
+
"cls": "Box"
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gen_textures": {},
|
| 449 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 450 |
+
"fixture_refs": {
|
| 451 |
+
"cabinet": "hingecabinet_2_main_group_1",
|
| 452 |
+
"drawer": "stack_10_island_group_2_2",
|
| 453 |
+
"counter": "counter_2_left_group_1"
|
| 454 |
+
},
|
| 455 |
+
"cam_configs": {
|
| 456 |
+
"robot0_agentview_center": {
|
| 457 |
+
"pos": [
|
| 458 |
+
-0.6,
|
| 459 |
+
0.0,
|
| 460 |
+
1.15
|
| 461 |
+
],
|
| 462 |
+
"quat": [
|
| 463 |
+
0.636945903301239,
|
| 464 |
+
0.3325185477733612,
|
| 465 |
+
-0.3199238181114197,
|
| 466 |
+
-0.6175596117973328
|
| 467 |
+
],
|
| 468 |
+
"parent_body": "mobilebase0_support"
|
| 469 |
+
},
|
| 470 |
+
"robot0_agentview_left": {
|
| 471 |
+
"pos": [
|
| 472 |
+
-0.5,
|
| 473 |
+
0.35,
|
| 474 |
+
1.05
|
| 475 |
+
],
|
| 476 |
+
"quat": [
|
| 477 |
+
0.55623853,
|
| 478 |
+
0.29935253,
|
| 479 |
+
-0.37678665,
|
| 480 |
+
-0.6775092
|
| 481 |
+
],
|
| 482 |
+
"camera_attribs": {
|
| 483 |
+
"fovy": "60"
|
| 484 |
+
},
|
| 485 |
+
"parent_body": "mobilebase0_support"
|
| 486 |
+
},
|
| 487 |
+
"robot0_agentview_right": {
|
| 488 |
+
"pos": [
|
| 489 |
+
-0.5,
|
| 490 |
+
-0.35,
|
| 491 |
+
1.05
|
| 492 |
+
],
|
| 493 |
+
"quat": [
|
| 494 |
+
0.6775091886520386,
|
| 495 |
+
0.3767866790294647,
|
| 496 |
+
-0.2993525564670563,
|
| 497 |
+
-0.55623859167099
|
| 498 |
+
],
|
| 499 |
+
"camera_attribs": {
|
| 500 |
+
"fovy": "60"
|
| 501 |
+
},
|
| 502 |
+
"parent_body": "mobilebase0_support"
|
| 503 |
+
},
|
| 504 |
+
"robot0_frontview": {
|
| 505 |
+
"pos": [
|
| 506 |
+
-0.5,
|
| 507 |
+
0,
|
| 508 |
+
0.95
|
| 509 |
+
],
|
| 510 |
+
"quat": [
|
| 511 |
+
0.6088936924934387,
|
| 512 |
+
0.3814677894115448,
|
| 513 |
+
-0.3673907518386841,
|
| 514 |
+
-0.5905545353889465
|
| 515 |
+
],
|
| 516 |
+
"camera_attribs": {
|
| 517 |
+
"fovy": "60"
|
| 518 |
+
},
|
| 519 |
+
"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_eye_in_hand": {
|
| 522 |
+
"pos": [
|
| 523 |
+
0.05,
|
| 524 |
+
0,
|
| 525 |
+
0
|
| 526 |
+
],
|
| 527 |
+
"quat": [
|
| 528 |
+
0,
|
| 529 |
+
0.707107,
|
| 530 |
+
0.707107,
|
| 531 |
+
0
|
| 532 |
+
],
|
| 533 |
+
"parent_body": "robot0_right_hand"
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"init_robot_base_pos": [
|
| 537 |
+
-1.2189516625694592,
|
| 538 |
+
-0.779562354306674,
|
| 539 |
+
0.0
|
| 540 |
+
],
|
| 541 |
+
"init_robot_base_ori": [
|
| 542 |
+
0.0,
|
| 543 |
+
0.0,
|
| 544 |
+
1.5706378976484208
|
| 545 |
+
]
|
| 546 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000087/ep_meta.json
ADDED
|
@@ -0,0 +1,642 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 29,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_left_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.4004311607387128,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
1.0497844196306438,
|
| 47 |
+
-3.469446951953614e-17,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_1"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_left_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.4004311607387128,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
1.0497844196306438,
|
| 95 |
+
-3.469446951953614e-17,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_1"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_left_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_2/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.4004311607387128,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
1.0497844196306438,
|
| 147 |
+
-3.469446951953614e-17,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_1"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_left_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.4004311607387128,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
1.0497844196306438,
|
| 199 |
+
-3.469446951953614e-17,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_1"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_left_4_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_left_4_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_1_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_1_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_left_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"wall_left_2_room": {
|
| 238 |
+
"cls": "Wall"
|
| 239 |
+
},
|
| 240 |
+
"wall_left_2_backing_room": {
|
| 241 |
+
"cls": "Wall"
|
| 242 |
+
},
|
| 243 |
+
"wall_main_2_room": {
|
| 244 |
+
"cls": "Wall"
|
| 245 |
+
},
|
| 246 |
+
"wall_main_2_backing_room": {
|
| 247 |
+
"cls": "Wall"
|
| 248 |
+
},
|
| 249 |
+
"wall_front_1_room": {
|
| 250 |
+
"cls": "Wall"
|
| 251 |
+
},
|
| 252 |
+
"wall_front_1_backing_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"floor_1_room": {
|
| 256 |
+
"cls": "Floor"
|
| 257 |
+
},
|
| 258 |
+
"floor_1_backing_room": {
|
| 259 |
+
"cls": "Floor"
|
| 260 |
+
},
|
| 261 |
+
"floor_2_room": {
|
| 262 |
+
"cls": "Floor"
|
| 263 |
+
},
|
| 264 |
+
"floor_2_backing_room": {
|
| 265 |
+
"cls": "Floor"
|
| 266 |
+
},
|
| 267 |
+
"light_switch_1_room": {
|
| 268 |
+
"cls": "WallAccessory"
|
| 269 |
+
},
|
| 270 |
+
"wall_accessory_1_room": {
|
| 271 |
+
"cls": "WallAccessory"
|
| 272 |
+
},
|
| 273 |
+
"light_switch_2_room": {
|
| 274 |
+
"cls": "WallAccessory"
|
| 275 |
+
},
|
| 276 |
+
"wall_accessory_2_room": {
|
| 277 |
+
"cls": "WallAccessory"
|
| 278 |
+
},
|
| 279 |
+
"stool_1_room": {
|
| 280 |
+
"cls": "Stool"
|
| 281 |
+
},
|
| 282 |
+
"stool_2_room": {
|
| 283 |
+
"cls": "Stool"
|
| 284 |
+
},
|
| 285 |
+
"stool_3_room": {
|
| 286 |
+
"cls": "Stool"
|
| 287 |
+
},
|
| 288 |
+
"stool_4_room": {
|
| 289 |
+
"cls": "Stool"
|
| 290 |
+
},
|
| 291 |
+
"bottom_main_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"bottom_main_group_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"oven_main_group": {
|
| 298 |
+
"cls": "Oven"
|
| 299 |
+
},
|
| 300 |
+
"oven_housing_main_group": {
|
| 301 |
+
"cls": "HousingCabinet"
|
| 302 |
+
},
|
| 303 |
+
"microwave_main_group": {
|
| 304 |
+
"cls": "Microwave"
|
| 305 |
+
},
|
| 306 |
+
"microwave_housing_main_group": {
|
| 307 |
+
"cls": "HousingCabinet"
|
| 308 |
+
},
|
| 309 |
+
"middle_main_group": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"top_main_group": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"fridge_main_group": {
|
| 316 |
+
"cls": "FridgeSideBySide"
|
| 317 |
+
},
|
| 318 |
+
"fridge_housing_main_group": {
|
| 319 |
+
"cls": "HousingCabinet"
|
| 320 |
+
},
|
| 321 |
+
"counter_1_main_group": {
|
| 322 |
+
"cls": "Counter"
|
| 323 |
+
},
|
| 324 |
+
"stack_1_main_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_1_main_group_1": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_1_main_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"stack_1_main_group_3": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_2_main_group_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_2_main_group_1": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
+
},
|
| 342 |
+
"stack_2_main_group_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_2_main_group_3": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_3_main_group_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_main_group_1": {
|
| 352 |
+
"cls": "Drawer"
|
| 353 |
+
},
|
| 354 |
+
"stack_3_main_group_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_3_main_group_3": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"dishwasher_main_group": {
|
| 361 |
+
"cls": "Dishwasher"
|
| 362 |
+
},
|
| 363 |
+
"panel_stack_main_group_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"panel_stack_main_group_1": {
|
| 367 |
+
"cls": "PanelCabinet"
|
| 368 |
+
},
|
| 369 |
+
"cab_1_main_group": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"cab_2_main_group": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"cab_3_main_group": {
|
| 376 |
+
"cls": "HingeCabinet"
|
| 377 |
+
},
|
| 378 |
+
"cab_4_main_group": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"cab_5_main_group": {
|
| 382 |
+
"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
+
"cab_6_main_group": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"toaster_oven_main_group": {
|
| 388 |
+
"cls": "ToasterOven"
|
| 389 |
+
},
|
| 390 |
+
"paper_towel_main_group": {
|
| 391 |
+
"cls": "Accessory"
|
| 392 |
+
},
|
| 393 |
+
"stovetop_left_group": {
|
| 394 |
+
"cls": "Stovetop"
|
| 395 |
+
},
|
| 396 |
+
"counter_1_left_group": {
|
| 397 |
+
"cls": "Counter"
|
| 398 |
+
},
|
| 399 |
+
"stack_1_left_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_1_left_group_1": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_left_group_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_left_group_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"stack_2_left_group_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_left_group_1": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_left_group_2": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_2_left_group_3": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_3_left_group_base": {
|
| 424 |
+
"cls": "Box"
|
| 425 |
+
},
|
| 426 |
+
"stack_3_left_group_1": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_3_left_group_2": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_3_left_group_3": {
|
| 433 |
+
"cls": "PanelCabinet"
|
| 434 |
+
},
|
| 435 |
+
"stack_4_left_group_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_4_left_group_1": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_4_left_group_2": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_4_left_group_3": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_5_left_group_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_5_left_group_1": {
|
| 451 |
+
"cls": "Drawer"
|
| 452 |
+
},
|
| 453 |
+
"stack_5_left_group_2": {
|
| 454 |
+
"cls": "Drawer"
|
| 455 |
+
},
|
| 456 |
+
"stack_5_left_group_3": {
|
| 457 |
+
"cls": "Drawer"
|
| 458 |
+
},
|
| 459 |
+
"hood_left_group": {
|
| 460 |
+
"cls": "Hood"
|
| 461 |
+
},
|
| 462 |
+
"cab_1_left_group": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
+
},
|
| 465 |
+
"cab_2_left_group": {
|
| 466 |
+
"cls": "HingeCabinet"
|
| 467 |
+
},
|
| 468 |
+
"cab_3_left_group": {
|
| 469 |
+
"cls": "HingeCabinet"
|
| 470 |
+
},
|
| 471 |
+
"cab_4_left_group": {
|
| 472 |
+
"cls": "HingeCabinet"
|
| 473 |
+
},
|
| 474 |
+
"coffee_machine_left_group": {
|
| 475 |
+
"cls": "CoffeeMachine"
|
| 476 |
+
},
|
| 477 |
+
"toaster_left_group": {
|
| 478 |
+
"cls": "Toaster"
|
| 479 |
+
},
|
| 480 |
+
"sink_island_group": {
|
| 481 |
+
"cls": "Sink"
|
| 482 |
+
},
|
| 483 |
+
"island_island_group": {
|
| 484 |
+
"cls": "Counter"
|
| 485 |
+
},
|
| 486 |
+
"panel_box_1_island_group_base": {
|
| 487 |
+
"cls": "Box"
|
| 488 |
+
},
|
| 489 |
+
"panel_box_1_island_group_1": {
|
| 490 |
+
"cls": "PanelCabinet"
|
| 491 |
+
},
|
| 492 |
+
"stack_1_island_group_base": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"stack_1_island_group_1": {
|
| 496 |
+
"cls": "Drawer"
|
| 497 |
+
},
|
| 498 |
+
"stack_1_island_group_2": {
|
| 499 |
+
"cls": "Drawer"
|
| 500 |
+
},
|
| 501 |
+
"stack_1_island_group_3": {
|
| 502 |
+
"cls": "Drawer"
|
| 503 |
+
},
|
| 504 |
+
"stack_2_island_group_base": {
|
| 505 |
+
"cls": "Box"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_island_group_1": {
|
| 508 |
+
"cls": "SingleCabinet"
|
| 509 |
+
},
|
| 510 |
+
"stack_3_island_group_base": {
|
| 511 |
+
"cls": "Box"
|
| 512 |
+
},
|
| 513 |
+
"stack_3_island_group_1": {
|
| 514 |
+
"cls": "HingeCabinet"
|
| 515 |
+
},
|
| 516 |
+
"stack_4_island_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"stack_4_island_group_1": {
|
| 520 |
+
"cls": "SingleCabinet"
|
| 521 |
+
},
|
| 522 |
+
"stack_5_island_group_base": {
|
| 523 |
+
"cls": "Box"
|
| 524 |
+
},
|
| 525 |
+
"stack_5_island_group_1": {
|
| 526 |
+
"cls": "Drawer"
|
| 527 |
+
},
|
| 528 |
+
"stack_5_island_group_2": {
|
| 529 |
+
"cls": "Drawer"
|
| 530 |
+
},
|
| 531 |
+
"stack_5_island_group_3": {
|
| 532 |
+
"cls": "Drawer"
|
| 533 |
+
},
|
| 534 |
+
"panel_cab_2_island_group_base": {
|
| 535 |
+
"cls": "Box"
|
| 536 |
+
},
|
| 537 |
+
"panel_cab_2_island_group_1": {
|
| 538 |
+
"cls": "PanelCabinet"
|
| 539 |
+
},
|
| 540 |
+
"box_island_group": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"gen_textures": {},
|
| 545 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 546 |
+
"fixture_refs": {
|
| 547 |
+
"cabinet": "cab_1_left_group",
|
| 548 |
+
"drawer": "stack_3_main_group_3",
|
| 549 |
+
"counter": "counter_1_left_group"
|
| 550 |
+
},
|
| 551 |
+
"cam_configs": {
|
| 552 |
+
"robot0_agentview_center": {
|
| 553 |
+
"pos": [
|
| 554 |
+
-0.6,
|
| 555 |
+
0.0,
|
| 556 |
+
1.15
|
| 557 |
+
],
|
| 558 |
+
"quat": [
|
| 559 |
+
0.636945903301239,
|
| 560 |
+
0.3325185477733612,
|
| 561 |
+
-0.3199238181114197,
|
| 562 |
+
-0.6175596117973328
|
| 563 |
+
],
|
| 564 |
+
"parent_body": "mobilebase0_support"
|
| 565 |
+
},
|
| 566 |
+
"robot0_agentview_left": {
|
| 567 |
+
"pos": [
|
| 568 |
+
-0.5,
|
| 569 |
+
0.35,
|
| 570 |
+
1.05
|
| 571 |
+
],
|
| 572 |
+
"quat": [
|
| 573 |
+
0.55623853,
|
| 574 |
+
0.29935253,
|
| 575 |
+
-0.37678665,
|
| 576 |
+
-0.6775092
|
| 577 |
+
],
|
| 578 |
+
"camera_attribs": {
|
| 579 |
+
"fovy": "60"
|
| 580 |
+
},
|
| 581 |
+
"parent_body": "mobilebase0_support"
|
| 582 |
+
},
|
| 583 |
+
"robot0_agentview_right": {
|
| 584 |
+
"pos": [
|
| 585 |
+
-0.5,
|
| 586 |
+
-0.35,
|
| 587 |
+
1.05
|
| 588 |
+
],
|
| 589 |
+
"quat": [
|
| 590 |
+
0.6775091886520386,
|
| 591 |
+
0.3767866790294647,
|
| 592 |
+
-0.2993525564670563,
|
| 593 |
+
-0.55623859167099
|
| 594 |
+
],
|
| 595 |
+
"camera_attribs": {
|
| 596 |
+
"fovy": "60"
|
| 597 |
+
},
|
| 598 |
+
"parent_body": "mobilebase0_support"
|
| 599 |
+
},
|
| 600 |
+
"robot0_frontview": {
|
| 601 |
+
"pos": [
|
| 602 |
+
-0.5,
|
| 603 |
+
0,
|
| 604 |
+
0.95
|
| 605 |
+
],
|
| 606 |
+
"quat": [
|
| 607 |
+
0.6088936924934387,
|
| 608 |
+
0.3814677894115448,
|
| 609 |
+
-0.3673907518386841,
|
| 610 |
+
-0.5905545353889465
|
| 611 |
+
],
|
| 612 |
+
"camera_attribs": {
|
| 613 |
+
"fovy": "60"
|
| 614 |
+
},
|
| 615 |
+
"parent_body": "mobilebase0_support"
|
| 616 |
+
},
|
| 617 |
+
"robot0_eye_in_hand": {
|
| 618 |
+
"pos": [
|
| 619 |
+
0.05,
|
| 620 |
+
0,
|
| 621 |
+
0
|
| 622 |
+
],
|
| 623 |
+
"quat": [
|
| 624 |
+
0,
|
| 625 |
+
0.707107,
|
| 626 |
+
0.707107,
|
| 627 |
+
0
|
| 628 |
+
],
|
| 629 |
+
"parent_body": "robot0_right_hand"
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"init_robot_base_pos": [
|
| 633 |
+
0.19853053836691376,
|
| 634 |
+
-3.0097297945608434,
|
| 635 |
+
0.0
|
| 636 |
+
],
|
| 637 |
+
"init_robot_base_ori": [
|
| 638 |
+
0.0,
|
| 639 |
+
0.0,
|
| 640 |
+
3.1415926193612504
|
| 641 |
+
]
|
| 642 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000092/ep_meta.json
ADDED
|
@@ -0,0 +1,597 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 56,
|
| 3 |
+
"style_id": 46,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_2_main_group_1",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
2.579347,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_2_main_group_1",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
2.579347,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_2_main_group_1",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"spoon",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "spoon",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_17/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
2.579347,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_2_main_group_1",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_11/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
2.579347,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_main_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_main_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_right_1_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_right_1_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"floor_1_room": {
|
| 220 |
+
"cls": "Floor"
|
| 221 |
+
},
|
| 222 |
+
"floor_1_backing_room": {
|
| 223 |
+
"cls": "Floor"
|
| 224 |
+
},
|
| 225 |
+
"wallaccessory_1_room": {
|
| 226 |
+
"cls": "WallAccessory"
|
| 227 |
+
},
|
| 228 |
+
"wallaccessory_2_room": {
|
| 229 |
+
"cls": "WallAccessory"
|
| 230 |
+
},
|
| 231 |
+
"wallaccessory_3_room": {
|
| 232 |
+
"cls": "WallAccessory"
|
| 233 |
+
},
|
| 234 |
+
"wallaccessory_4_room": {
|
| 235 |
+
"cls": "WallAccessory"
|
| 236 |
+
},
|
| 237 |
+
"lightswitch_02_room": {
|
| 238 |
+
"cls": "WallAccessory"
|
| 239 |
+
},
|
| 240 |
+
"lightswitch_03_room": {
|
| 241 |
+
"cls": "WallAccessory"
|
| 242 |
+
},
|
| 243 |
+
"stool_3_room": {
|
| 244 |
+
"cls": "Stool"
|
| 245 |
+
},
|
| 246 |
+
"stool_2_room": {
|
| 247 |
+
"cls": "Stool"
|
| 248 |
+
},
|
| 249 |
+
"stool_1_room": {
|
| 250 |
+
"cls": "Stool"
|
| 251 |
+
},
|
| 252 |
+
"stack_13_island_group_2_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_13_island_group_2_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"stack_04_island_group_2_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_04_island_group_2_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"stack_12_island_group_2_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_12_island_group_2_1": {
|
| 268 |
+
"cls": "HingeCabinet"
|
| 269 |
+
},
|
| 270 |
+
"singlecabinet_2_main_group_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"hingecabinet_5_main_group_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"hingecabinet_4_main_group_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"opencabinet_2_main_group_1": {
|
| 280 |
+
"cls": "OpenCabinet"
|
| 281 |
+
},
|
| 282 |
+
"opencabinet_3_main_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"counter_2_main_group_1": {
|
| 286 |
+
"cls": "Counter"
|
| 287 |
+
},
|
| 288 |
+
"counter_corner_1_main_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"counter_3_main_group_1": {
|
| 292 |
+
"cls": "Counter"
|
| 293 |
+
},
|
| 294 |
+
"stove_main_group_1": {
|
| 295 |
+
"cls": "Stove"
|
| 296 |
+
},
|
| 297 |
+
"stove_hood_main_group_1": {
|
| 298 |
+
"cls": "Hood"
|
| 299 |
+
},
|
| 300 |
+
"cube_4_main_group_1": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_11_main_group_1_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_11_main_group_1_1": {
|
| 307 |
+
"cls": "SingleCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_03_main_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_03_main_group_1_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_03_main_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_02_main_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_02_main_group_1_1": {
|
| 322 |
+
"cls": "SingleCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_04_main_group_1_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_04_main_group_1_1": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_04_main_group_1_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"stack_04_main_group_1_3": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_08_main_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_08_main_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_08_main_group_1_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"stack_06_main_group_1_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_06_main_group_1_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_07_main_group_1_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_07_main_group_1_1": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_07_main_group_1_2": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"stack_07_main_group_1_3": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"cube_8_main_group_1": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"coffee_machine_main_group_1": {
|
| 367 |
+
"cls": "CoffeeMachine"
|
| 368 |
+
},
|
| 369 |
+
"papertowel_main_group_1": {
|
| 370 |
+
"cls": "Accessory"
|
| 371 |
+
},
|
| 372 |
+
"plant_main_group_1": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
+
"toaster_oven_main_group_1": {
|
| 376 |
+
"cls": "ToasterOven"
|
| 377 |
+
},
|
| 378 |
+
"singlecabinet_1_right_group_1": {
|
| 379 |
+
"cls": "SingleCabinet"
|
| 380 |
+
},
|
| 381 |
+
"hingecabinet_1_right_group_1": {
|
| 382 |
+
"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
+
"hingecabinet_9_right_group_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"counter_1_right_group_1": {
|
| 388 |
+
"cls": "Counter"
|
| 389 |
+
},
|
| 390 |
+
"counter_8_right_group_1": {
|
| 391 |
+
"cls": "Counter"
|
| 392 |
+
},
|
| 393 |
+
"stack_6_right_group_1_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_6_right_group_1_1": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_6_right_group_1_2": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_4_right_group_1_base": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"stack_4_right_group_1_1": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
+
"cube_11_right_group_1": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_7_right_group_1_base": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"stack_7_right_group_1_1": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"stack_7_right_group_1_2": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"cube_12_right_group_1": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"fridgefrenchdoor_right_group_1": {
|
| 424 |
+
"cls": "FridgeFrenchDoor"
|
| 425 |
+
},
|
| 426 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 427 |
+
"cls": "HousingCabinet"
|
| 428 |
+
},
|
| 429 |
+
"bottom_right_group_1_base": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"bottom_right_group_1_1": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"oven_cabinet_right_group_1": {
|
| 436 |
+
"cls": "HingeCabinet"
|
| 437 |
+
},
|
| 438 |
+
"microwave_right_group_1": {
|
| 439 |
+
"cls": "Microwave"
|
| 440 |
+
},
|
| 441 |
+
"microwave_housing_right_group_1": {
|
| 442 |
+
"cls": "HousingCabinet"
|
| 443 |
+
},
|
| 444 |
+
"top_right_group_1": {
|
| 445 |
+
"cls": "HingeCabinet"
|
| 446 |
+
},
|
| 447 |
+
"hingecabinet_2_right_group_1": {
|
| 448 |
+
"cls": "HingeCabinet"
|
| 449 |
+
},
|
| 450 |
+
"toaster_right_group_1": {
|
| 451 |
+
"cls": "Toaster"
|
| 452 |
+
},
|
| 453 |
+
"sink_island_group_1": {
|
| 454 |
+
"cls": "Sink"
|
| 455 |
+
},
|
| 456 |
+
"island_island_group_1": {
|
| 457 |
+
"cls": "Counter"
|
| 458 |
+
},
|
| 459 |
+
"stack_11_island_group_1_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_11_island_group_1_1": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
+
},
|
| 465 |
+
"stack_11_island_group_1_2": {
|
| 466 |
+
"cls": "PanelCabinet"
|
| 467 |
+
},
|
| 468 |
+
"stack_09_island_group_1_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_09_island_group_1_1": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
},
|
| 474 |
+
"stack_09_island_group_1_2": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_09_island_group_1_3": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"stack_10_island_group_1_base": {
|
| 481 |
+
"cls": "Box"
|
| 482 |
+
},
|
| 483 |
+
"stack_10_island_group_1_1": {
|
| 484 |
+
"cls": "SingleCabinet"
|
| 485 |
+
},
|
| 486 |
+
"stack_10_island_group_1_2": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"dishwasher_1_island_group_1": {
|
| 490 |
+
"cls": "Dishwasher"
|
| 491 |
+
},
|
| 492 |
+
"cube_1_island_group_1": {
|
| 493 |
+
"cls": "Box"
|
| 494 |
+
},
|
| 495 |
+
"cube_2_island_group_1": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"gen_textures": {},
|
| 500 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 501 |
+
"fixture_refs": {
|
| 502 |
+
"cabinet": "hingecabinet_5_main_group_1",
|
| 503 |
+
"drawer": "stack_10_island_group_1_2",
|
| 504 |
+
"counter": "counter_2_main_group_1"
|
| 505 |
+
},
|
| 506 |
+
"cam_configs": {
|
| 507 |
+
"robot0_agentview_center": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.6,
|
| 510 |
+
0.0,
|
| 511 |
+
1.15
|
| 512 |
+
],
|
| 513 |
+
"quat": [
|
| 514 |
+
0.636945903301239,
|
| 515 |
+
0.3325185477733612,
|
| 516 |
+
-0.3199238181114197,
|
| 517 |
+
-0.6175596117973328
|
| 518 |
+
],
|
| 519 |
+
"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_agentview_left": {
|
| 522 |
+
"pos": [
|
| 523 |
+
-0.5,
|
| 524 |
+
0.35,
|
| 525 |
+
1.05
|
| 526 |
+
],
|
| 527 |
+
"quat": [
|
| 528 |
+
0.55623853,
|
| 529 |
+
0.29935253,
|
| 530 |
+
-0.37678665,
|
| 531 |
+
-0.6775092
|
| 532 |
+
],
|
| 533 |
+
"camera_attribs": {
|
| 534 |
+
"fovy": "60"
|
| 535 |
+
},
|
| 536 |
+
"parent_body": "mobilebase0_support"
|
| 537 |
+
},
|
| 538 |
+
"robot0_agentview_right": {
|
| 539 |
+
"pos": [
|
| 540 |
+
-0.5,
|
| 541 |
+
-0.35,
|
| 542 |
+
1.05
|
| 543 |
+
],
|
| 544 |
+
"quat": [
|
| 545 |
+
0.6775091886520386,
|
| 546 |
+
0.3767866790294647,
|
| 547 |
+
-0.2993525564670563,
|
| 548 |
+
-0.55623859167099
|
| 549 |
+
],
|
| 550 |
+
"camera_attribs": {
|
| 551 |
+
"fovy": "60"
|
| 552 |
+
},
|
| 553 |
+
"parent_body": "mobilebase0_support"
|
| 554 |
+
},
|
| 555 |
+
"robot0_frontview": {
|
| 556 |
+
"pos": [
|
| 557 |
+
-0.5,
|
| 558 |
+
0,
|
| 559 |
+
0.95
|
| 560 |
+
],
|
| 561 |
+
"quat": [
|
| 562 |
+
0.6088936924934387,
|
| 563 |
+
0.3814677894115448,
|
| 564 |
+
-0.3673907518386841,
|
| 565 |
+
-0.5905545353889465
|
| 566 |
+
],
|
| 567 |
+
"camera_attribs": {
|
| 568 |
+
"fovy": "60"
|
| 569 |
+
},
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_eye_in_hand": {
|
| 573 |
+
"pos": [
|
| 574 |
+
0.05,
|
| 575 |
+
0,
|
| 576 |
+
0
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0,
|
| 580 |
+
0.707107,
|
| 581 |
+
0.707107,
|
| 582 |
+
0
|
| 583 |
+
],
|
| 584 |
+
"parent_body": "robot0_right_hand"
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"init_robot_base_pos": [
|
| 588 |
+
4.643240590002301,
|
| 589 |
+
-0.8145515250415767,
|
| 590 |
+
0.0
|
| 591 |
+
],
|
| 592 |
+
"init_robot_base_ori": [
|
| 593 |
+
0.0,
|
| 594 |
+
0.0,
|
| 595 |
+
1.57064844767067
|
| 596 |
+
]
|
| 597 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/extras/episode_000100/ep_meta.json
ADDED
|
@@ -0,0 +1,525 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 11,
|
| 3 |
+
"style_id": 18,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "wooden_spoon",
|
| 7 |
+
"obj_groups": "wooden_spoon",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"object_scale": [
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
2
|
| 13 |
+
],
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group",
|
| 16 |
+
"size": [
|
| 17 |
+
1.0,
|
| 18 |
+
0.5
|
| 19 |
+
],
|
| 20 |
+
"pos": [
|
| 21 |
+
0,
|
| 22 |
+
-1.0
|
| 23 |
+
],
|
| 24 |
+
"rotation": 0
|
| 25 |
+
},
|
| 26 |
+
"type": "object",
|
| 27 |
+
"info": {
|
| 28 |
+
"groups_containing_sampled_obj": [
|
| 29 |
+
"all",
|
| 30 |
+
"wooden_spoon",
|
| 31 |
+
"utensil"
|
| 32 |
+
],
|
| 33 |
+
"groups": [
|
| 34 |
+
"wooden_spoon"
|
| 35 |
+
],
|
| 36 |
+
"cat": "wooden_spoon",
|
| 37 |
+
"split": "train",
|
| 38 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 39 |
+
},
|
| 40 |
+
"reset_region": {
|
| 41 |
+
"size": [
|
| 42 |
+
1.131,
|
| 43 |
+
0.65
|
| 44 |
+
],
|
| 45 |
+
"offset": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.46
|
| 49 |
+
],
|
| 50 |
+
"name": "geom_0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
{
|
| 54 |
+
"name": "wooden_spoon_2",
|
| 55 |
+
"obj_groups": "wooden_spoon",
|
| 56 |
+
"object_scale": [
|
| 57 |
+
1,
|
| 58 |
+
1,
|
| 59 |
+
2
|
| 60 |
+
],
|
| 61 |
+
"placement": {
|
| 62 |
+
"fixture": "counter_1_main_group",
|
| 63 |
+
"reuse_region_from": "wooden_spoon",
|
| 64 |
+
"size": [
|
| 65 |
+
1.0,
|
| 66 |
+
0.5
|
| 67 |
+
],
|
| 68 |
+
"pos": [
|
| 69 |
+
0,
|
| 70 |
+
-1.0
|
| 71 |
+
],
|
| 72 |
+
"rotation": 0
|
| 73 |
+
},
|
| 74 |
+
"type": "object",
|
| 75 |
+
"info": {
|
| 76 |
+
"groups_containing_sampled_obj": [
|
| 77 |
+
"all",
|
| 78 |
+
"wooden_spoon",
|
| 79 |
+
"utensil"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"wooden_spoon"
|
| 83 |
+
],
|
| 84 |
+
"cat": "wooden_spoon",
|
| 85 |
+
"split": "train",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon002/model.xml"
|
| 87 |
+
},
|
| 88 |
+
"reset_region": {
|
| 89 |
+
"size": [
|
| 90 |
+
1.131,
|
| 91 |
+
0.65
|
| 92 |
+
],
|
| 93 |
+
"offset": [
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
0.46
|
| 97 |
+
],
|
| 98 |
+
"name": "geom_0"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"name": "metallic_utensil",
|
| 103 |
+
"obj_groups": [
|
| 104 |
+
"spoon",
|
| 105 |
+
"fork"
|
| 106 |
+
],
|
| 107 |
+
"object_scale": [
|
| 108 |
+
1,
|
| 109 |
+
1,
|
| 110 |
+
2
|
| 111 |
+
],
|
| 112 |
+
"placement": {
|
| 113 |
+
"fixture": "counter_1_main_group",
|
| 114 |
+
"reuse_region_from": "wooden_spoon",
|
| 115 |
+
"size": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.5
|
| 118 |
+
],
|
| 119 |
+
"pos": [
|
| 120 |
+
0,
|
| 121 |
+
-1.0
|
| 122 |
+
],
|
| 123 |
+
"rotation": 0
|
| 124 |
+
},
|
| 125 |
+
"type": "object",
|
| 126 |
+
"info": {
|
| 127 |
+
"groups_containing_sampled_obj": [
|
| 128 |
+
"all",
|
| 129 |
+
"fork",
|
| 130 |
+
"utensil"
|
| 131 |
+
],
|
| 132 |
+
"groups": [
|
| 133 |
+
"spoon",
|
| 134 |
+
"fork"
|
| 135 |
+
],
|
| 136 |
+
"cat": "fork",
|
| 137 |
+
"split": "train",
|
| 138 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml"
|
| 139 |
+
},
|
| 140 |
+
"reset_region": {
|
| 141 |
+
"size": [
|
| 142 |
+
1.131,
|
| 143 |
+
0.65
|
| 144 |
+
],
|
| 145 |
+
"offset": [
|
| 146 |
+
0.0,
|
| 147 |
+
0.0,
|
| 148 |
+
0.46
|
| 149 |
+
],
|
| 150 |
+
"name": "geom_0"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"name": "metallic_utensil_2",
|
| 155 |
+
"obj_groups": [
|
| 156 |
+
"spoon",
|
| 157 |
+
"fork"
|
| 158 |
+
],
|
| 159 |
+
"object_scale": [
|
| 160 |
+
1,
|
| 161 |
+
1,
|
| 162 |
+
2
|
| 163 |
+
],
|
| 164 |
+
"placement": {
|
| 165 |
+
"fixture": "counter_1_main_group",
|
| 166 |
+
"reuse_region_from": "wooden_spoon",
|
| 167 |
+
"size": [
|
| 168 |
+
1.0,
|
| 169 |
+
0.5
|
| 170 |
+
],
|
| 171 |
+
"pos": [
|
| 172 |
+
0,
|
| 173 |
+
-1.0
|
| 174 |
+
],
|
| 175 |
+
"rotation": 0
|
| 176 |
+
},
|
| 177 |
+
"type": "object",
|
| 178 |
+
"info": {
|
| 179 |
+
"groups_containing_sampled_obj": [
|
| 180 |
+
"all",
|
| 181 |
+
"fork",
|
| 182 |
+
"utensil"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"spoon",
|
| 186 |
+
"fork"
|
| 187 |
+
],
|
| 188 |
+
"cat": "fork",
|
| 189 |
+
"split": "train",
|
| 190 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
|
| 191 |
+
},
|
| 192 |
+
"reset_region": {
|
| 193 |
+
"size": [
|
| 194 |
+
1.131,
|
| 195 |
+
0.65
|
| 196 |
+
],
|
| 197 |
+
"offset": [
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.46
|
| 201 |
+
],
|
| 202 |
+
"name": "geom_0"
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"fixtures": {
|
| 207 |
+
"wall_left_1_room": {
|
| 208 |
+
"cls": "Wall"
|
| 209 |
+
},
|
| 210 |
+
"wall_left_1_backing_room": {
|
| 211 |
+
"cls": "Wall"
|
| 212 |
+
},
|
| 213 |
+
"wall_main_room": {
|
| 214 |
+
"cls": "Wall"
|
| 215 |
+
},
|
| 216 |
+
"wall_main_backing_room": {
|
| 217 |
+
"cls": "Wall"
|
| 218 |
+
},
|
| 219 |
+
"wall_right_1_room": {
|
| 220 |
+
"cls": "Wall"
|
| 221 |
+
},
|
| 222 |
+
"wall_right_1_backing_room": {
|
| 223 |
+
"cls": "Wall"
|
| 224 |
+
},
|
| 225 |
+
"wall_left_2_room": {
|
| 226 |
+
"cls": "Wall"
|
| 227 |
+
},
|
| 228 |
+
"wall_left_2_backing_room": {
|
| 229 |
+
"cls": "Wall"
|
| 230 |
+
},
|
| 231 |
+
"wall_left_3_room": {
|
| 232 |
+
"cls": "Wall"
|
| 233 |
+
},
|
| 234 |
+
"wall_left_3_backing_room": {
|
| 235 |
+
"cls": "Wall"
|
| 236 |
+
},
|
| 237 |
+
"floor_1_room": {
|
| 238 |
+
"cls": "Floor"
|
| 239 |
+
},
|
| 240 |
+
"floor_1_backing_room": {
|
| 241 |
+
"cls": "Floor"
|
| 242 |
+
},
|
| 243 |
+
"floor_2_room": {
|
| 244 |
+
"cls": "Floor"
|
| 245 |
+
},
|
| 246 |
+
"floor_2_backing_room": {
|
| 247 |
+
"cls": "Floor"
|
| 248 |
+
},
|
| 249 |
+
"wall_accessory_1_room": {
|
| 250 |
+
"cls": "WallAccessory"
|
| 251 |
+
},
|
| 252 |
+
"wall_accessory_2_room": {
|
| 253 |
+
"cls": "WallAccessory"
|
| 254 |
+
},
|
| 255 |
+
"light_switch_room": {
|
| 256 |
+
"cls": "WallAccessory"
|
| 257 |
+
},
|
| 258 |
+
"wall_accessory_3_room": {
|
| 259 |
+
"cls": "WallAccessory"
|
| 260 |
+
},
|
| 261 |
+
"wall_accessory_4_room": {
|
| 262 |
+
"cls": "WallAccessory"
|
| 263 |
+
},
|
| 264 |
+
"stool_2_room": {
|
| 265 |
+
"cls": "Stool"
|
| 266 |
+
},
|
| 267 |
+
"stool_1_room": {
|
| 268 |
+
"cls": "Stool"
|
| 269 |
+
},
|
| 270 |
+
"counter_corner_main_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"counter_1_main_group": {
|
| 274 |
+
"cls": "Counter"
|
| 275 |
+
},
|
| 276 |
+
"stove_1_main_group": {
|
| 277 |
+
"cls": "Stove"
|
| 278 |
+
},
|
| 279 |
+
"counter_2_main_group": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_main_group_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_main_group_1": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_main_group_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_main_group_3": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_main_group_4": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_main_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_main_group_1": {
|
| 301 |
+
"cls": "SingleCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_main_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_main_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_main_group_1": {
|
| 310 |
+
"cls": "SingleCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_main_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_4_main_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_4_main_group_1": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"stack_4_main_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_main_group_3": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_main_group_4": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_5_main_group_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_5_main_group_1": {
|
| 334 |
+
"cls": "SingleCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_5_main_group_2": {
|
| 337 |
+
"cls": "SingleCabinet"
|
| 338 |
+
},
|
| 339 |
+
"cab_1_main_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"microwave_main_group": {
|
| 343 |
+
"cls": "Microwave"
|
| 344 |
+
},
|
| 345 |
+
"cab_2_main_group": {
|
| 346 |
+
"cls": "HingeCabinet"
|
| 347 |
+
},
|
| 348 |
+
"cab_3_main_group": {
|
| 349 |
+
"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"counter_stack_main_group_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"counter_stack_main_group_1": {
|
| 355 |
+
"cls": "SingleCabinet"
|
| 356 |
+
},
|
| 357 |
+
"counter_stack_main_group_2": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"counter_stack_main_group_3": {
|
| 361 |
+
"cls": "HingeCabinet"
|
| 362 |
+
},
|
| 363 |
+
"toaster_main_group": {
|
| 364 |
+
"cls": "Toaster"
|
| 365 |
+
},
|
| 366 |
+
"sink_left_group": {
|
| 367 |
+
"cls": "Sink"
|
| 368 |
+
},
|
| 369 |
+
"counter_1_left_group": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"counter_left_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"panel_cab_left_group_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"panel_cab_left_group_1": {
|
| 379 |
+
"cls": "PanelCabinet"
|
| 380 |
+
},
|
| 381 |
+
"dishwasher_left_group": {
|
| 382 |
+
"cls": "Dishwasher"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_left_group_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_1_left_group_1": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"stack_1_left_group_2": {
|
| 391 |
+
"cls": "PanelCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_left_group_base": {
|
| 394 |
+
"cls": "Box"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_left_group_1": {
|
| 397 |
+
"cls": "SingleCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_2_left_group_2": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"box_left_group": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"coffee_machine_left_group": {
|
| 406 |
+
"cls": "CoffeeMachine"
|
| 407 |
+
},
|
| 408 |
+
"paper_towel_left_group": {
|
| 409 |
+
"cls": "Accessory"
|
| 410 |
+
},
|
| 411 |
+
"box_right_group": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
+
},
|
| 414 |
+
"fridge_right_group": {
|
| 415 |
+
"cls": "FridgeBottomFreezer"
|
| 416 |
+
},
|
| 417 |
+
"fridge_housing_right_group": {
|
| 418 |
+
"cls": "HousingCabinet"
|
| 419 |
+
},
|
| 420 |
+
"cab_1_right_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"dining_dining_group": {
|
| 424 |
+
"cls": "Counter"
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"gen_textures": {},
|
| 428 |
+
"lang": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer.",
|
| 429 |
+
"fixture_refs": {
|
| 430 |
+
"cabinet": "cab_1_main_group",
|
| 431 |
+
"drawer": "stack_3_main_group_2",
|
| 432 |
+
"counter": "counter_1_main_group"
|
| 433 |
+
},
|
| 434 |
+
"cam_configs": {
|
| 435 |
+
"robot0_agentview_center": {
|
| 436 |
+
"pos": [
|
| 437 |
+
-0.6,
|
| 438 |
+
0.0,
|
| 439 |
+
1.15
|
| 440 |
+
],
|
| 441 |
+
"quat": [
|
| 442 |
+
0.636945903301239,
|
| 443 |
+
0.3325185477733612,
|
| 444 |
+
-0.3199238181114197,
|
| 445 |
+
-0.6175596117973328
|
| 446 |
+
],
|
| 447 |
+
"parent_body": "mobilebase0_support"
|
| 448 |
+
},
|
| 449 |
+
"robot0_agentview_left": {
|
| 450 |
+
"pos": [
|
| 451 |
+
-0.5,
|
| 452 |
+
0.35,
|
| 453 |
+
1.05
|
| 454 |
+
],
|
| 455 |
+
"quat": [
|
| 456 |
+
0.55623853,
|
| 457 |
+
0.29935253,
|
| 458 |
+
-0.37678665,
|
| 459 |
+
-0.6775092
|
| 460 |
+
],
|
| 461 |
+
"camera_attribs": {
|
| 462 |
+
"fovy": "60"
|
| 463 |
+
},
|
| 464 |
+
"parent_body": "mobilebase0_support"
|
| 465 |
+
},
|
| 466 |
+
"robot0_agentview_right": {
|
| 467 |
+
"pos": [
|
| 468 |
+
-0.5,
|
| 469 |
+
-0.35,
|
| 470 |
+
1.05
|
| 471 |
+
],
|
| 472 |
+
"quat": [
|
| 473 |
+
0.6775091886520386,
|
| 474 |
+
0.3767866790294647,
|
| 475 |
+
-0.2993525564670563,
|
| 476 |
+
-0.55623859167099
|
| 477 |
+
],
|
| 478 |
+
"camera_attribs": {
|
| 479 |
+
"fovy": "60"
|
| 480 |
+
},
|
| 481 |
+
"parent_body": "mobilebase0_support"
|
| 482 |
+
},
|
| 483 |
+
"robot0_frontview": {
|
| 484 |
+
"pos": [
|
| 485 |
+
-0.5,
|
| 486 |
+
0,
|
| 487 |
+
0.95
|
| 488 |
+
],
|
| 489 |
+
"quat": [
|
| 490 |
+
0.6088936924934387,
|
| 491 |
+
0.3814677894115448,
|
| 492 |
+
-0.3673907518386841,
|
| 493 |
+
-0.5905545353889465
|
| 494 |
+
],
|
| 495 |
+
"camera_attribs": {
|
| 496 |
+
"fovy": "60"
|
| 497 |
+
},
|
| 498 |
+
"parent_body": "mobilebase0_support"
|
| 499 |
+
},
|
| 500 |
+
"robot0_eye_in_hand": {
|
| 501 |
+
"pos": [
|
| 502 |
+
0.05,
|
| 503 |
+
0,
|
| 504 |
+
0
|
| 505 |
+
],
|
| 506 |
+
"quat": [
|
| 507 |
+
0,
|
| 508 |
+
0.707107,
|
| 509 |
+
0.707107,
|
| 510 |
+
0
|
| 511 |
+
],
|
| 512 |
+
"parent_body": "robot0_right_hand"
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"init_robot_base_pos": [
|
| 516 |
+
1.0944123429513168,
|
| 517 |
+
-0.8489648168233236,
|
| 518 |
+
0.0
|
| 519 |
+
],
|
| 520 |
+
"init_robot_base_ori": [
|
| 521 |
+
0.0,
|
| 522 |
+
0.0,
|
| 523 |
+
1.5707963267948966
|
| 524 |
+
]
|
| 525 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/embodiment.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_name": "PandaOmron",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"record_frequency": 20.0,
|
| 5 |
+
"body_controller_frequency": 20.0,
|
| 6 |
+
"hand_controller_frequency": 20.0,
|
| 7 |
+
"embodiment_tag": "robocasa_panda_omron"
|
| 8 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2821}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1930}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3021}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2499}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1768}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2110}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2898}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2600}
|
| 9 |
+
{"episode_index": 8, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2304}
|
| 10 |
+
{"episode_index": 9, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2560}
|
| 11 |
+
{"episode_index": 10, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2390}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2444}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2425}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2982}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2551}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1747}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2363}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2231}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2513}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2874}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2617}
|
| 22 |
+
{"episode_index": 21, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1712}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2880}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2307}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2333}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2145}
|
| 27 |
+
{"episode_index": 26, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3026}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2393}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2897}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2814}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2108}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2373}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2657}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2977}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2837}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3284}
|
| 37 |
+
{"episode_index": 36, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2681}
|
| 38 |
+
{"episode_index": 37, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2228}
|
| 39 |
+
{"episode_index": 38, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3167}
|
| 40 |
+
{"episode_index": 39, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2524}
|
| 41 |
+
{"episode_index": 40, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2641}
|
| 42 |
+
{"episode_index": 41, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2407}
|
| 43 |
+
{"episode_index": 42, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2540}
|
| 44 |
+
{"episode_index": 43, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2488}
|
| 45 |
+
{"episode_index": 44, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2114}
|
| 46 |
+
{"episode_index": 45, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2976}
|
| 47 |
+
{"episode_index": 46, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1795}
|
| 48 |
+
{"episode_index": 47, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1893}
|
| 49 |
+
{"episode_index": 48, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2672}
|
| 50 |
+
{"episode_index": 49, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2666}
|
| 51 |
+
{"episode_index": 50, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3253}
|
| 52 |
+
{"episode_index": 51, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2181}
|
| 53 |
+
{"episode_index": 52, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2871}
|
| 54 |
+
{"episode_index": 53, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 4295}
|
| 55 |
+
{"episode_index": 54, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2671}
|
| 56 |
+
{"episode_index": 55, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2901}
|
| 57 |
+
{"episode_index": 56, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2810}
|
| 58 |
+
{"episode_index": 57, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3084}
|
| 59 |
+
{"episode_index": 58, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2449}
|
| 60 |
+
{"episode_index": 59, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1965}
|
| 61 |
+
{"episode_index": 60, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2347}
|
| 62 |
+
{"episode_index": 61, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3189}
|
| 63 |
+
{"episode_index": 62, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2404}
|
| 64 |
+
{"episode_index": 63, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2126}
|
| 65 |
+
{"episode_index": 64, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2493}
|
| 66 |
+
{"episode_index": 65, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1928}
|
| 67 |
+
{"episode_index": 66, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2278}
|
| 68 |
+
{"episode_index": 67, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2291}
|
| 69 |
+
{"episode_index": 68, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2617}
|
| 70 |
+
{"episode_index": 69, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1931}
|
| 71 |
+
{"episode_index": 70, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2791}
|
| 72 |
+
{"episode_index": 71, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2909}
|
| 73 |
+
{"episode_index": 72, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2368}
|
| 74 |
+
{"episode_index": 73, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3072}
|
| 75 |
+
{"episode_index": 74, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2644}
|
| 76 |
+
{"episode_index": 75, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2721}
|
| 77 |
+
{"episode_index": 76, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2242}
|
| 78 |
+
{"episode_index": 77, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1973}
|
| 79 |
+
{"episode_index": 78, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2560}
|
| 80 |
+
{"episode_index": 79, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2806}
|
| 81 |
+
{"episode_index": 80, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2066}
|
| 82 |
+
{"episode_index": 81, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2822}
|
| 83 |
+
{"episode_index": 82, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2516}
|
| 84 |
+
{"episode_index": 83, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2447}
|
| 85 |
+
{"episode_index": 84, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3011}
|
| 86 |
+
{"episode_index": 85, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1855}
|
| 87 |
+
{"episode_index": 86, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2486}
|
| 88 |
+
{"episode_index": 87, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2474}
|
| 89 |
+
{"episode_index": 88, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2430}
|
| 90 |
+
{"episode_index": 89, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2058}
|
| 91 |
+
{"episode_index": 90, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2292}
|
| 92 |
+
{"episode_index": 91, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2751}
|
| 93 |
+
{"episode_index": 92, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2299}
|
| 94 |
+
{"episode_index": 93, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3022}
|
| 95 |
+
{"episode_index": 94, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 1731}
|
| 96 |
+
{"episode_index": 95, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2721}
|
| 97 |
+
{"episode_index": 96, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2580}
|
| 98 |
+
{"episode_index": 97, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3256}
|
| 99 |
+
{"episode_index": 98, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 3370}
|
| 100 |
+
{"episode_index": 99, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2455}
|
| 101 |
+
{"episode_index": 100, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2423}
|
| 102 |
+
{"episode_index": 101, "tasks": ["Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."], "length": 2653}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,179 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"total_episodes": 102,
|
| 5 |
+
"total_frames": 259071,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 306,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:102"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.robot0_eye_in_hand": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"video_info": {
|
| 30 |
+
"video.fps": 20,
|
| 31 |
+
"video.codec": "h264",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"has_audio": false
|
| 35 |
+
},
|
| 36 |
+
"info": {
|
| 37 |
+
"video.height": 256,
|
| 38 |
+
"video.width": 256,
|
| 39 |
+
"video.codec": "h264",
|
| 40 |
+
"video.pix_fmt": "yuv420p",
|
| 41 |
+
"video.is_depth_map": false,
|
| 42 |
+
"video.fps": 20,
|
| 43 |
+
"video.channels": 3,
|
| 44 |
+
"has_audio": false
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.images.robot0_agentview_left": {
|
| 48 |
+
"dtype": "video",
|
| 49 |
+
"shape": [
|
| 50 |
+
256,
|
| 51 |
+
256,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channel"
|
| 58 |
+
],
|
| 59 |
+
"video_info": {
|
| 60 |
+
"video.fps": 20,
|
| 61 |
+
"video.codec": "h264",
|
| 62 |
+
"video.pix_fmt": "yuv420p",
|
| 63 |
+
"video.is_depth_map": false,
|
| 64 |
+
"has_audio": false
|
| 65 |
+
},
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 256,
|
| 68 |
+
"video.width": 256,
|
| 69 |
+
"video.codec": "h264",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 20,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"observation.images.robot0_agentview_right": {
|
| 78 |
+
"dtype": "video",
|
| 79 |
+
"shape": [
|
| 80 |
+
256,
|
| 81 |
+
256,
|
| 82 |
+
3
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"height",
|
| 86 |
+
"width",
|
| 87 |
+
"channel"
|
| 88 |
+
],
|
| 89 |
+
"video_info": {
|
| 90 |
+
"video.fps": 20,
|
| 91 |
+
"video.codec": "h264",
|
| 92 |
+
"video.pix_fmt": "yuv420p",
|
| 93 |
+
"video.is_depth_map": false,
|
| 94 |
+
"has_audio": false
|
| 95 |
+
},
|
| 96 |
+
"info": {
|
| 97 |
+
"video.height": 256,
|
| 98 |
+
"video.width": 256,
|
| 99 |
+
"video.codec": "h264",
|
| 100 |
+
"video.pix_fmt": "yuv420p",
|
| 101 |
+
"video.is_depth_map": false,
|
| 102 |
+
"video.fps": 20,
|
| 103 |
+
"video.channels": 3,
|
| 104 |
+
"has_audio": false
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"annotation.human.task_description": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"annotation.human.task_name": {
|
| 114 |
+
"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"observation.state": {
|
| 120 |
+
"dtype": "float64",
|
| 121 |
+
"shape": [
|
| 122 |
+
16
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"action": {
|
| 126 |
+
"dtype": "float64",
|
| 127 |
+
"shape": [
|
| 128 |
+
12
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"next.reward": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"next.done": {
|
| 138 |
+
"dtype": "bool",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"timestamp": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"names": null
|
| 149 |
+
},
|
| 150 |
+
"frame_index": {
|
| 151 |
+
"dtype": "int64",
|
| 152 |
+
"shape": [
|
| 153 |
+
1
|
| 154 |
+
],
|
| 155 |
+
"names": null
|
| 156 |
+
},
|
| 157 |
+
"episode_index": {
|
| 158 |
+
"dtype": "int64",
|
| 159 |
+
"shape": [
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"names": null
|
| 163 |
+
},
|
| 164 |
+
"index": {
|
| 165 |
+
"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"names": null
|
| 170 |
+
},
|
| 171 |
+
"task_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"names": null
|
| 177 |
+
}
|
| 178 |
+
}
|
| 179 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 3
|
| 7 |
+
},
|
| 8 |
+
"base_rotation": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 3,
|
| 11 |
+
"end": 7
|
| 12 |
+
},
|
| 13 |
+
"end_effector_position_relative": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 7,
|
| 16 |
+
"end": 10
|
| 17 |
+
},
|
| 18 |
+
"end_effector_rotation_relative": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 10,
|
| 21 |
+
"end": 14
|
| 22 |
+
},
|
| 23 |
+
"gripper_qpos": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 14,
|
| 26 |
+
"end": 16
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"action": {
|
| 30 |
+
"base_motion": {
|
| 31 |
+
"original_key": "action",
|
| 32 |
+
"start": 0,
|
| 33 |
+
"end": 4
|
| 34 |
+
},
|
| 35 |
+
"control_mode": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 5
|
| 39 |
+
},
|
| 40 |
+
"end_effector_position": {
|
| 41 |
+
"original_key": "action",
|
| 42 |
+
"start": 5,
|
| 43 |
+
"end": 8
|
| 44 |
+
},
|
| 45 |
+
"end_effector_rotation": {
|
| 46 |
+
"original_key": "action",
|
| 47 |
+
"start": 8,
|
| 48 |
+
"end": 11
|
| 49 |
+
},
|
| 50 |
+
"gripper_close": {
|
| 51 |
+
"original_key": "action",
|
| 52 |
+
"start": 11,
|
| 53 |
+
"end": 12
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"robot0_eye_in_hand": {
|
| 58 |
+
"original_key": "observation.images.robot0_eye_in_hand"
|
| 59 |
+
},
|
| 60 |
+
"robot0_agentview_left": {
|
| 61 |
+
"original_key": "observation.images.robot0_agentview_left"
|
| 62 |
+
},
|
| 63 |
+
"robot0_agentview_right": {
|
| 64 |
+
"original_key": "observation.images.robot0_agentview_right"
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"annotation": {
|
| 68 |
+
"human.task_description": {
|
| 69 |
+
"original_key": "annotation.human.task_description"
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"annotation.human.task_description": {
|
| 3 |
+
"mean": [
|
| 4 |
+
0.0
|
| 5 |
+
],
|
| 6 |
+
"std": [
|
| 7 |
+
0.0
|
| 8 |
+
],
|
| 9 |
+
"min": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"max": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"q01": [
|
| 16 |
+
0.0
|
| 17 |
+
],
|
| 18 |
+
"q99": [
|
| 19 |
+
0.0
|
| 20 |
+
]
|
| 21 |
+
},
|
| 22 |
+
"annotation.human.task_name": {
|
| 23 |
+
"mean": [
|
| 24 |
+
1.0
|
| 25 |
+
],
|
| 26 |
+
"std": [
|
| 27 |
+
0.0
|
| 28 |
+
],
|
| 29 |
+
"min": [
|
| 30 |
+
1.0
|
| 31 |
+
],
|
| 32 |
+
"max": [
|
| 33 |
+
1.0
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
1.0
|
| 37 |
+
],
|
| 38 |
+
"q99": [
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"observation.state": {
|
| 43 |
+
"mean": [
|
| 44 |
+
2.574626922607422,
|
| 45 |
+
-2.1689565181732178,
|
| 46 |
+
0.707976758480072,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.1710701733827591,
|
| 50 |
+
0.6178537607192993,
|
| 51 |
+
0.25954142212867737,
|
| 52 |
+
-0.018331147730350494,
|
| 53 |
+
0.47440528869628906,
|
| 54 |
+
0.07159982621669769,
|
| 55 |
+
0.1768515706062317,
|
| 56 |
+
0.04576539620757103,
|
| 57 |
+
0.09743528068065643,
|
| 58 |
+
0.021821115165948868,
|
| 59 |
+
-0.022138841450214386
|
| 60 |
+
],
|
| 61 |
+
"std": [
|
| 62 |
+
1.7919714450836182,
|
| 63 |
+
1.3097434043884277,
|
| 64 |
+
0.007489786949008703,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.6884709596633911,
|
| 68 |
+
0.3394284248352051,
|
| 69 |
+
0.1792142689228058,
|
| 70 |
+
0.14090202748775482,
|
| 71 |
+
0.20267175137996674,
|
| 72 |
+
0.8648515939712524,
|
| 73 |
+
0.37865015864372253,
|
| 74 |
+
0.22095665335655212,
|
| 75 |
+
0.10852152109146118,
|
| 76 |
+
0.016117986291646957,
|
| 77 |
+
0.016004741191864014
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-4.7455339431762695,
|
| 81 |
+
-6.383419036865234,
|
| 82 |
+
0.6998832821846008,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
-1.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.16878646612167358,
|
| 88 |
+
-0.7143411040306091,
|
| 89 |
+
-0.08856217563152313,
|
| 90 |
+
-0.9999926686286926,
|
| 91 |
+
-0.9998341202735901,
|
| 92 |
+
-0.9293532967567444,
|
| 93 |
+
2.2168003965816752e-07,
|
| 94 |
+
-0.0045614708214998245,
|
| 95 |
+
-0.042846471071243286
|
| 96 |
+
],
|
| 97 |
+
"max": [
|
| 98 |
+
7.290634632110596,
|
| 99 |
+
-0.3282712996006012,
|
| 100 |
+
0.7556185126304626,
|
| 101 |
+
0.0,
|
| 102 |
+
0.0,
|
| 103 |
+
1.0,
|
| 104 |
+
1.0,
|
| 105 |
+
0.826848030090332,
|
| 106 |
+
0.6906551718711853,
|
| 107 |
+
0.935728907585144,
|
| 108 |
+
0.9999988079071045,
|
| 109 |
+
0.9999314546585083,
|
| 110 |
+
0.9035581946372986,
|
| 111 |
+
0.8128157258033752,
|
| 112 |
+
0.04219602793455124,
|
| 113 |
+
0.0024940900038927794
|
| 114 |
+
],
|
| 115 |
+
"q01": [
|
| 116 |
+
-2.2745747566223145,
|
| 117 |
+
-5.569411754608154,
|
| 118 |
+
0.6999993920326233,
|
| 119 |
+
0.0,
|
| 120 |
+
0.0,
|
| 121 |
+
-0.9999973773956299,
|
| 122 |
+
0.0001360828464385122,
|
| 123 |
+
-0.06945746392011642,
|
| 124 |
+
-0.48089900612831116,
|
| 125 |
+
0.014468241482973099,
|
| 126 |
+
-0.9987776875495911,
|
| 127 |
+
-0.6913659572601318,
|
| 128 |
+
-0.4516381025314331,
|
| 129 |
+
0.0007451772689819336,
|
| 130 |
+
0.000963406462687999,
|
| 131 |
+
-0.040085095912218094
|
| 132 |
+
],
|
| 133 |
+
"q99": [
|
| 134 |
+
6.034248352050781,
|
| 135 |
+
-0.751186192035675,
|
| 136 |
+
0.7301216721534729,
|
| 137 |
+
0.0,
|
| 138 |
+
0.0,
|
| 139 |
+
0.9999998807907104,
|
| 140 |
+
0.9999998807907104,
|
| 141 |
+
0.6614891290664673,
|
| 142 |
+
0.43693652749061584,
|
| 143 |
+
0.8380551338195801,
|
| 144 |
+
0.9983844757080078,
|
| 145 |
+
0.9756506085395813,
|
| 146 |
+
0.5062718987464905,
|
| 147 |
+
0.456104576587677,
|
| 148 |
+
0.04007215052843094,
|
| 149 |
+
-0.001276274211704731
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
"action": {
|
| 153 |
+
"mean": [
|
| 154 |
+
0.1090666800737381,
|
| 155 |
+
0.014409981667995453,
|
| 156 |
+
-0.005060606170445681,
|
| 157 |
+
0.0,
|
| 158 |
+
-0.27532607316970825,
|
| 159 |
+
0.0032769818790256977,
|
| 160 |
+
-0.0034677658695727587,
|
| 161 |
+
-0.029479961842298508,
|
| 162 |
+
0.0021603929344564676,
|
| 163 |
+
-0.0021355461794883013,
|
| 164 |
+
0.0013208282180130482,
|
| 165 |
+
0.10656151920557022
|
| 166 |
+
],
|
| 167 |
+
"std": [
|
| 168 |
+
0.3350505232810974,
|
| 169 |
+
0.22818240523338318,
|
| 170 |
+
0.2519475221633911,
|
| 171 |
+
0.0,
|
| 172 |
+
0.9618409276008606,
|
| 173 |
+
0.31120872497558594,
|
| 174 |
+
0.18970979750156403,
|
| 175 |
+
0.31819331645965576,
|
| 176 |
+
0.07681005448102951,
|
| 177 |
+
0.09066583961248398,
|
| 178 |
+
0.10922955721616745,
|
| 179 |
+
0.9934370517730713
|
| 180 |
+
],
|
| 181 |
+
"min": [
|
| 182 |
+
-1.0,
|
| 183 |
+
-1.0,
|
| 184 |
+
-1.0,
|
| 185 |
+
0.0,
|
| 186 |
+
-1.0,
|
| 187 |
+
-1.0,
|
| 188 |
+
-1.0,
|
| 189 |
+
-1.0,
|
| 190 |
+
-1.0,
|
| 191 |
+
-1.0,
|
| 192 |
+
-0.9178571701049805,
|
| 193 |
+
-1.0
|
| 194 |
+
],
|
| 195 |
+
"max": [
|
| 196 |
+
1.0,
|
| 197 |
+
1.0,
|
| 198 |
+
1.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0,
|
| 201 |
+
1.0,
|
| 202 |
+
1.0,
|
| 203 |
+
1.0,
|
| 204 |
+
1.0,
|
| 205 |
+
1.0,
|
| 206 |
+
0.9178571701049805,
|
| 207 |
+
1.0
|
| 208 |
+
],
|
| 209 |
+
"q01": [
|
| 210 |
+
-0.7642857432365417,
|
| 211 |
+
-0.7428571581840515,
|
| 212 |
+
-0.9964285492897034,
|
| 213 |
+
0.0,
|
| 214 |
+
-1.0,
|
| 215 |
+
-1.0,
|
| 216 |
+
-0.6821428537368774,
|
| 217 |
+
-0.7607142925262451,
|
| 218 |
+
-0.24642856419086456,
|
| 219 |
+
-0.33142855763435364,
|
| 220 |
+
-0.4214285612106323,
|
| 221 |
+
-1.0
|
| 222 |
+
],
|
| 223 |
+
"q99": [
|
| 224 |
+
1.0,
|
| 225 |
+
0.8857142925262451,
|
| 226 |
+
1.0,
|
| 227 |
+
0.0,
|
| 228 |
+
1.0,
|
| 229 |
+
0.7571428418159485,
|
| 230 |
+
0.6178571581840515,
|
| 231 |
+
1.0,
|
| 232 |
+
0.2857142984867096,
|
| 233 |
+
0.27714285254478455,
|
| 234 |
+
0.4000000059604645,
|
| 235 |
+
1.0
|
| 236 |
+
]
|
| 237 |
+
},
|
| 238 |
+
"next.reward": {
|
| 239 |
+
"mean": [
|
| 240 |
+
0.0063110110349953175
|
| 241 |
+
],
|
| 242 |
+
"std": [
|
| 243 |
+
0.07919079810380936
|
| 244 |
+
],
|
| 245 |
+
"min": [
|
| 246 |
+
0.0
|
| 247 |
+
],
|
| 248 |
+
"max": [
|
| 249 |
+
1.0
|
| 250 |
+
],
|
| 251 |
+
"q01": [
|
| 252 |
+
0.0
|
| 253 |
+
],
|
| 254 |
+
"q99": [
|
| 255 |
+
0.0
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"next.done": {
|
| 259 |
+
"mean": [
|
| 260 |
+
0.00039371446473523974
|
| 261 |
+
],
|
| 262 |
+
"std": [
|
| 263 |
+
0.01983833685517311
|
| 264 |
+
],
|
| 265 |
+
"min": [
|
| 266 |
+
0.0
|
| 267 |
+
],
|
| 268 |
+
"max": [
|
| 269 |
+
1.0
|
| 270 |
+
],
|
| 271 |
+
"q01": [
|
| 272 |
+
0.0
|
| 273 |
+
],
|
| 274 |
+
"q99": [
|
| 275 |
+
0.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"timestamp": {
|
| 279 |
+
"mean": [
|
| 280 |
+
65.21851348876953
|
| 281 |
+
],
|
| 282 |
+
"std": [
|
| 283 |
+
39.699031829833984
|
| 284 |
+
],
|
| 285 |
+
"min": [
|
| 286 |
+
0.0
|
| 287 |
+
],
|
| 288 |
+
"max": [
|
| 289 |
+
214.6999969482422
|
| 290 |
+
],
|
| 291 |
+
"q01": [
|
| 292 |
+
1.25
|
| 293 |
+
],
|
| 294 |
+
"q99": [
|
| 295 |
+
152.10000610351562
|
| 296 |
+
]
|
| 297 |
+
},
|
| 298 |
+
"frame_index": {
|
| 299 |
+
"mean": [
|
| 300 |
+
1304.3701171875
|
| 301 |
+
],
|
| 302 |
+
"std": [
|
| 303 |
+
793.9805908203125
|
| 304 |
+
],
|
| 305 |
+
"min": [
|
| 306 |
+
0.0
|
| 307 |
+
],
|
| 308 |
+
"max": [
|
| 309 |
+
4294.0
|
| 310 |
+
],
|
| 311 |
+
"q01": [
|
| 312 |
+
25.0
|
| 313 |
+
],
|
| 314 |
+
"q99": [
|
| 315 |
+
3042.0
|
| 316 |
+
]
|
| 317 |
+
},
|
| 318 |
+
"episode_index": {
|
| 319 |
+
"mean": [
|
| 320 |
+
50.76826095581055
|
| 321 |
+
],
|
| 322 |
+
"std": [
|
| 323 |
+
29.276710510253906
|
| 324 |
+
],
|
| 325 |
+
"min": [
|
| 326 |
+
0.0
|
| 327 |
+
],
|
| 328 |
+
"max": [
|
| 329 |
+
101.0
|
| 330 |
+
],
|
| 331 |
+
"q01": [
|
| 332 |
+
0.0
|
| 333 |
+
],
|
| 334 |
+
"q99": [
|
| 335 |
+
101.0
|
| 336 |
+
]
|
| 337 |
+
},
|
| 338 |
+
"index": {
|
| 339 |
+
"mean": [
|
| 340 |
+
129535.0
|
| 341 |
+
],
|
| 342 |
+
"std": [
|
| 343 |
+
74787.34375
|
| 344 |
+
],
|
| 345 |
+
"min": [
|
| 346 |
+
0.0
|
| 347 |
+
],
|
| 348 |
+
"max": [
|
| 349 |
+
259070.0
|
| 350 |
+
],
|
| 351 |
+
"q01": [
|
| 352 |
+
2590.699951171875
|
| 353 |
+
],
|
| 354 |
+
"q99": [
|
| 355 |
+
256479.296875
|
| 356 |
+
]
|
| 357 |
+
},
|
| 358 |
+
"task_index": {
|
| 359 |
+
"mean": [
|
| 360 |
+
0.0
|
| 361 |
+
],
|
| 362 |
+
"std": [
|
| 363 |
+
0.0
|
| 364 |
+
],
|
| 365 |
+
"min": [
|
| 366 |
+
0.0
|
| 367 |
+
],
|
| 368 |
+
"max": [
|
| 369 |
+
0.0
|
| 370 |
+
],
|
| 371 |
+
"q01": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"q99": [
|
| 375 |
+
0.0
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
}
|
pretrain/composite/ArrangeUtensilsByType/20250805/lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Organize the utensils by type. Pick up the wooden spoons from the counter and place them in the open cabinet. Then pick up the metallic utensils from the counter and place them in the open drawer."}
|
| 2 |
+
{"task_index": 1, "task": "ArrangeUtensilsByType"}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000003/ep_meta.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 33,
|
| 3 |
+
"style_id": 42,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_3_right_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.94,
|
| 45 |
+
0.340555
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_3_right_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.94,
|
| 91 |
+
0.340555
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_2_right_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.05496633832750106,
|
| 107 |
+
0.10011066582587716,
|
| 108 |
+
0.11258375177999994
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"eggplant",
|
| 125 |
+
"vegetable",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"oven_ready"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"food"
|
| 132 |
+
],
|
| 133 |
+
"cat": "eggplant",
|
| 134 |
+
"split": "train",
|
| 135 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
|
| 136 |
+
},
|
| 137 |
+
"reset_region": {
|
| 138 |
+
"size": [
|
| 139 |
+
0.9999999999999991,
|
| 140 |
+
0.65
|
| 141 |
+
],
|
| 142 |
+
"offset": [
|
| 143 |
+
4.440892098500626e-16,
|
| 144 |
+
0.0,
|
| 145 |
+
0.46
|
| 146 |
+
],
|
| 147 |
+
"name": "geom_0"
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"name": "food2",
|
| 152 |
+
"obj_groups": "food",
|
| 153 |
+
"graspable": true,
|
| 154 |
+
"placement": {
|
| 155 |
+
"fixture": "counter_2_right_group_1",
|
| 156 |
+
"sample_region_kwargs": {
|
| 157 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 158 |
+
"min_size": [
|
| 159 |
+
0.05103102500000001,
|
| 160 |
+
0.122814865,
|
| 161 |
+
0.0535306175
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"size": [
|
| 165 |
+
0.6,
|
| 166 |
+
0.3
|
| 167 |
+
],
|
| 168 |
+
"pos": [
|
| 169 |
+
"ref",
|
| 170 |
+
-1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"type": "object",
|
| 174 |
+
"info": {
|
| 175 |
+
"groups_containing_sampled_obj": [
|
| 176 |
+
"all",
|
| 177 |
+
"sweet_potato",
|
| 178 |
+
"vegetable",
|
| 179 |
+
"food",
|
| 180 |
+
"in_container",
|
| 181 |
+
"oven_ready"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
+
"food"
|
| 185 |
+
],
|
| 186 |
+
"cat": "sweet_potato",
|
| 187 |
+
"split": "train",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml"
|
| 189 |
+
},
|
| 190 |
+
"reset_region": {
|
| 191 |
+
"size": [
|
| 192 |
+
0.9999999999999991,
|
| 193 |
+
0.65
|
| 194 |
+
],
|
| 195 |
+
"offset": [
|
| 196 |
+
4.440892098500626e-16,
|
| 197 |
+
0.0,
|
| 198 |
+
0.46
|
| 199 |
+
],
|
| 200 |
+
"name": "geom_0"
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "distr_counter",
|
| 205 |
+
"obj_groups": "all",
|
| 206 |
+
"placement": {
|
| 207 |
+
"fixture": "counter_2_right_group_1",
|
| 208 |
+
"sample_region_kwargs": {
|
| 209 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 210 |
+
"min_size": [
|
| 211 |
+
0.061569973499999986,
|
| 212 |
+
0.07362725399999998,
|
| 213 |
+
0.06187700774999999
|
| 214 |
+
]
|
| 215 |
+
},
|
| 216 |
+
"size": [
|
| 217 |
+
0.5,
|
| 218 |
+
0.2
|
| 219 |
+
],
|
| 220 |
+
"pos": [
|
| 221 |
+
"ref",
|
| 222 |
+
1.0
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"type": "object",
|
| 226 |
+
"info": {
|
| 227 |
+
"groups_containing_sampled_obj": [
|
| 228 |
+
"all",
|
| 229 |
+
"lemon",
|
| 230 |
+
"vegetable",
|
| 231 |
+
"food",
|
| 232 |
+
"in_container",
|
| 233 |
+
"food_set1"
|
| 234 |
+
],
|
| 235 |
+
"groups": [
|
| 236 |
+
"all"
|
| 237 |
+
],
|
| 238 |
+
"cat": "lemon",
|
| 239 |
+
"split": "train",
|
| 240 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml"
|
| 241 |
+
},
|
| 242 |
+
"reset_region": {
|
| 243 |
+
"size": [
|
| 244 |
+
0.9999999999999991,
|
| 245 |
+
0.65
|
| 246 |
+
],
|
| 247 |
+
"offset": [
|
| 248 |
+
4.440892098500626e-16,
|
| 249 |
+
0.0,
|
| 250 |
+
0.46
|
| 251 |
+
],
|
| 252 |
+
"name": "geom_0"
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
],
|
| 256 |
+
"fixtures": {
|
| 257 |
+
"wall_main_1_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_main_1_backing_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_left_1_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"wall_left_1_backing_room": {
|
| 267 |
+
"cls": "Wall"
|
| 268 |
+
},
|
| 269 |
+
"wall_right_1_room": {
|
| 270 |
+
"cls": "Wall"
|
| 271 |
+
},
|
| 272 |
+
"wall_right_1_backing_room": {
|
| 273 |
+
"cls": "Wall"
|
| 274 |
+
},
|
| 275 |
+
"wall_main_2_room": {
|
| 276 |
+
"cls": "Wall"
|
| 277 |
+
},
|
| 278 |
+
"wall_main_2_backing_room": {
|
| 279 |
+
"cls": "Wall"
|
| 280 |
+
},
|
| 281 |
+
"wall_main_3.001_room": {
|
| 282 |
+
"cls": "Wall"
|
| 283 |
+
},
|
| 284 |
+
"wall_main_3.001_backing_room": {
|
| 285 |
+
"cls": "Wall"
|
| 286 |
+
},
|
| 287 |
+
"floor_1_room": {
|
| 288 |
+
"cls": "Floor"
|
| 289 |
+
},
|
| 290 |
+
"floor_1_backing_room": {
|
| 291 |
+
"cls": "Floor"
|
| 292 |
+
},
|
| 293 |
+
"floor_2.001_room": {
|
| 294 |
+
"cls": "Floor"
|
| 295 |
+
},
|
| 296 |
+
"floor_2.001_backing_room": {
|
| 297 |
+
"cls": "Floor"
|
| 298 |
+
},
|
| 299 |
+
"stool_1_room": {
|
| 300 |
+
"cls": "Stool"
|
| 301 |
+
},
|
| 302 |
+
"stool_2_room": {
|
| 303 |
+
"cls": "Stool"
|
| 304 |
+
},
|
| 305 |
+
"stool_3_room": {
|
| 306 |
+
"cls": "Stool"
|
| 307 |
+
},
|
| 308 |
+
"stool_4_room": {
|
| 309 |
+
"cls": "Stool"
|
| 310 |
+
},
|
| 311 |
+
"counter_2_right_group_1": {
|
| 312 |
+
"cls": "Counter"
|
| 313 |
+
},
|
| 314 |
+
"hingecabinet_1_right_group_1": {
|
| 315 |
+
"cls": "HingeCabinet"
|
| 316 |
+
},
|
| 317 |
+
"hingecabinet_2_right_group_1": {
|
| 318 |
+
"cls": "HingeCabinet"
|
| 319 |
+
},
|
| 320 |
+
"hingecabinet_3_right_group_1": {
|
| 321 |
+
"cls": "HingeCabinet"
|
| 322 |
+
},
|
| 323 |
+
"stack_1_right_group_1_base": {
|
| 324 |
+
"cls": "Box"
|
| 325 |
+
},
|
| 326 |
+
"stack_1_right_group_1_1": {
|
| 327 |
+
"cls": "HingeCabinet"
|
| 328 |
+
},
|
| 329 |
+
"stack_1_right_group_1_2": {
|
| 330 |
+
"cls": "Drawer"
|
| 331 |
+
},
|
| 332 |
+
"stack_2_right_group_1_base": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"stack_2_right_group_1_1": {
|
| 336 |
+
"cls": "HingeCabinet"
|
| 337 |
+
},
|
| 338 |
+
"stack_2_right_group_1_2": {
|
| 339 |
+
"cls": "Drawer"
|
| 340 |
+
},
|
| 341 |
+
"stack_3_right_group_1_base": {
|
| 342 |
+
"cls": "Box"
|
| 343 |
+
},
|
| 344 |
+
"stack_3_right_group_1_1": {
|
| 345 |
+
"cls": "HingeCabinet"
|
| 346 |
+
},
|
| 347 |
+
"stack_3_right_group_1_2": {
|
| 348 |
+
"cls": "Drawer"
|
| 349 |
+
},
|
| 350 |
+
"counter_1_right_group_1": {
|
| 351 |
+
"cls": "Counter"
|
| 352 |
+
},
|
| 353 |
+
"fridgefrenchdoor_right_group_1": {
|
| 354 |
+
"cls": "FridgeFrenchDoor"
|
| 355 |
+
},
|
| 356 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 357 |
+
"cls": "HousingCabinet"
|
| 358 |
+
},
|
| 359 |
+
"hingecabinet_4_right_group_1": {
|
| 360 |
+
"cls": "HingeCabinet"
|
| 361 |
+
},
|
| 362 |
+
"bottom_right_group_1_base": {
|
| 363 |
+
"cls": "Box"
|
| 364 |
+
},
|
| 365 |
+
"bottom_right_group_1_1": {
|
| 366 |
+
"cls": "Drawer"
|
| 367 |
+
},
|
| 368 |
+
"microwave_right_group_1": {
|
| 369 |
+
"cls": "Microwave"
|
| 370 |
+
},
|
| 371 |
+
"oven_cabinet_right_group_1": {
|
| 372 |
+
"cls": "HingeCabinet"
|
| 373 |
+
},
|
| 374 |
+
"microwave_housing_right_group_1": {
|
| 375 |
+
"cls": "HousingCabinet"
|
| 376 |
+
},
|
| 377 |
+
"top_right_group_1": {
|
| 378 |
+
"cls": "HingeCabinet"
|
| 379 |
+
},
|
| 380 |
+
"coffee_machine_right_group_1": {
|
| 381 |
+
"cls": "CoffeeMachine"
|
| 382 |
+
},
|
| 383 |
+
"toaster_right_group_1": {
|
| 384 |
+
"cls": "Toaster"
|
| 385 |
+
},
|
| 386 |
+
"hingecabinet_1_main_group_1": {
|
| 387 |
+
"cls": "HingeCabinet"
|
| 388 |
+
},
|
| 389 |
+
"hingecabinet_2_main_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"singlecabinet_1_main_group_1": {
|
| 393 |
+
"cls": "SingleCabinet"
|
| 394 |
+
},
|
| 395 |
+
"singlecabinet_2_main_group_1": {
|
| 396 |
+
"cls": "SingleCabinet"
|
| 397 |
+
},
|
| 398 |
+
"counter_1_main_group_1": {
|
| 399 |
+
"cls": "Counter"
|
| 400 |
+
},
|
| 401 |
+
"counter_2_main_group_1": {
|
| 402 |
+
"cls": "Counter"
|
| 403 |
+
},
|
| 404 |
+
"widestove_main_group_1": {
|
| 405 |
+
"cls": "Stove"
|
| 406 |
+
},
|
| 407 |
+
"widestove_hood_main_group_1": {
|
| 408 |
+
"cls": "Hood"
|
| 409 |
+
},
|
| 410 |
+
"stack_1_main_group_1_base": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"stack_1_main_group_1_1": {
|
| 414 |
+
"cls": "HingeCabinet"
|
| 415 |
+
},
|
| 416 |
+
"stack_1_main_group_1_2": {
|
| 417 |
+
"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
+
"stack_4_main_group_1_base": {
|
| 420 |
+
"cls": "Box"
|
| 421 |
+
},
|
| 422 |
+
"stack_4_main_group_1_1": {
|
| 423 |
+
"cls": "HingeCabinet"
|
| 424 |
+
},
|
| 425 |
+
"stack_4_main_group_1_2": {
|
| 426 |
+
"cls": "Drawer"
|
| 427 |
+
},
|
| 428 |
+
"stack_2_main_group_1_base": {
|
| 429 |
+
"cls": "Box"
|
| 430 |
+
},
|
| 431 |
+
"stack_2_main_group_1_1": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_2_main_group_1_2": {
|
| 435 |
+
"cls": "Drawer"
|
| 436 |
+
},
|
| 437 |
+
"stack_2_main_group_1_3": {
|
| 438 |
+
"cls": "Drawer"
|
| 439 |
+
},
|
| 440 |
+
"stack_3_main_group_1_base": {
|
| 441 |
+
"cls": "Box"
|
| 442 |
+
},
|
| 443 |
+
"stack_3_main_group_1_1": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"stack_3_main_group_1_2": {
|
| 447 |
+
"cls": "Drawer"
|
| 448 |
+
},
|
| 449 |
+
"stack_3_main_group_1_3": {
|
| 450 |
+
"cls": "Drawer"
|
| 451 |
+
},
|
| 452 |
+
"knife_block_main_group_1": {
|
| 453 |
+
"cls": "Accessory"
|
| 454 |
+
},
|
| 455 |
+
"paper_towel_main_group_1": {
|
| 456 |
+
"cls": "Accessory"
|
| 457 |
+
},
|
| 458 |
+
"toaster_oven_main_group_1": {
|
| 459 |
+
"cls": "ToasterOven"
|
| 460 |
+
},
|
| 461 |
+
"sink_island_group_1": {
|
| 462 |
+
"cls": "Sink"
|
| 463 |
+
},
|
| 464 |
+
"island_island_group_1": {
|
| 465 |
+
"cls": "Counter"
|
| 466 |
+
},
|
| 467 |
+
"stack_2_island_group_1_base": {
|
| 468 |
+
"cls": "Box"
|
| 469 |
+
},
|
| 470 |
+
"stack_2_island_group_1_1": {
|
| 471 |
+
"cls": "SingleCabinet"
|
| 472 |
+
},
|
| 473 |
+
"stack_2_island_group_1_2": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"stack_1_island_group_1_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_island_group_1_1": {
|
| 480 |
+
"cls": "HingeCabinet"
|
| 481 |
+
},
|
| 482 |
+
"stack_1_island_group_1_2": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_3_island_group_1_base": {
|
| 486 |
+
"cls": "Box"
|
| 487 |
+
},
|
| 488 |
+
"stack_3_island_group_1_1": {
|
| 489 |
+
"cls": "HingeCabinet"
|
| 490 |
+
},
|
| 491 |
+
"stack_3_island_group_1_2": {
|
| 492 |
+
"cls": "PanelCabinet"
|
| 493 |
+
},
|
| 494 |
+
"stack_4_island_group_1_base": {
|
| 495 |
+
"cls": "Box"
|
| 496 |
+
},
|
| 497 |
+
"stack_4_island_group_1_1": {
|
| 498 |
+
"cls": "SingleCabinet"
|
| 499 |
+
},
|
| 500 |
+
"stack_4_island_group_1_2": {
|
| 501 |
+
"cls": "Drawer"
|
| 502 |
+
},
|
| 503 |
+
"cube_1_island_group_1": {
|
| 504 |
+
"cls": "Box"
|
| 505 |
+
},
|
| 506 |
+
"cube_2_island_group_1": {
|
| 507 |
+
"cls": "Box"
|
| 508 |
+
},
|
| 509 |
+
"cube_3_island_group_1": {
|
| 510 |
+
"cls": "Box"
|
| 511 |
+
},
|
| 512 |
+
"dishwasher_1_island_group_1": {
|
| 513 |
+
"cls": "Dishwasher"
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
"gen_textures": {},
|
| 517 |
+
"lang": "Pick both bowls and place them on the counter. Then place the eggplant in one bowl and place the sweet potato in the other bowl.",
|
| 518 |
+
"fixture_refs": {
|
| 519 |
+
"cab": "hingecabinet_3_right_group_1",
|
| 520 |
+
"counter": "counter_2_right_group_1"
|
| 521 |
+
},
|
| 522 |
+
"cam_configs": {
|
| 523 |
+
"robot0_agentview_center": {
|
| 524 |
+
"pos": [
|
| 525 |
+
-0.6,
|
| 526 |
+
0.0,
|
| 527 |
+
1.15
|
| 528 |
+
],
|
| 529 |
+
"quat": [
|
| 530 |
+
0.636945903301239,
|
| 531 |
+
0.3325185477733612,
|
| 532 |
+
-0.3199238181114197,
|
| 533 |
+
-0.6175596117973328
|
| 534 |
+
],
|
| 535 |
+
"parent_body": "mobilebase0_support"
|
| 536 |
+
},
|
| 537 |
+
"robot0_agentview_left": {
|
| 538 |
+
"pos": [
|
| 539 |
+
-0.5,
|
| 540 |
+
0.35,
|
| 541 |
+
1.05
|
| 542 |
+
],
|
| 543 |
+
"quat": [
|
| 544 |
+
0.55623853,
|
| 545 |
+
0.29935253,
|
| 546 |
+
-0.37678665,
|
| 547 |
+
-0.6775092
|
| 548 |
+
],
|
| 549 |
+
"camera_attribs": {
|
| 550 |
+
"fovy": "60"
|
| 551 |
+
},
|
| 552 |
+
"parent_body": "mobilebase0_support"
|
| 553 |
+
},
|
| 554 |
+
"robot0_agentview_right": {
|
| 555 |
+
"pos": [
|
| 556 |
+
-0.5,
|
| 557 |
+
-0.35,
|
| 558 |
+
1.05
|
| 559 |
+
],
|
| 560 |
+
"quat": [
|
| 561 |
+
0.6775091886520386,
|
| 562 |
+
0.3767866790294647,
|
| 563 |
+
-0.2993525564670563,
|
| 564 |
+
-0.55623859167099
|
| 565 |
+
],
|
| 566 |
+
"camera_attribs": {
|
| 567 |
+
"fovy": "60"
|
| 568 |
+
},
|
| 569 |
+
"parent_body": "mobilebase0_support"
|
| 570 |
+
},
|
| 571 |
+
"robot0_frontview": {
|
| 572 |
+
"pos": [
|
| 573 |
+
-0.5,
|
| 574 |
+
0,
|
| 575 |
+
0.95
|
| 576 |
+
],
|
| 577 |
+
"quat": [
|
| 578 |
+
0.6088936924934387,
|
| 579 |
+
0.3814677894115448,
|
| 580 |
+
-0.3673907518386841,
|
| 581 |
+
-0.5905545353889465
|
| 582 |
+
],
|
| 583 |
+
"camera_attribs": {
|
| 584 |
+
"fovy": "60"
|
| 585 |
+
},
|
| 586 |
+
"parent_body": "mobilebase0_support"
|
| 587 |
+
},
|
| 588 |
+
"robot0_eye_in_hand": {
|
| 589 |
+
"pos": [
|
| 590 |
+
0.05,
|
| 591 |
+
0,
|
| 592 |
+
0
|
| 593 |
+
],
|
| 594 |
+
"quat": [
|
| 595 |
+
0,
|
| 596 |
+
0.707107,
|
| 597 |
+
0.707107,
|
| 598 |
+
0
|
| 599 |
+
],
|
| 600 |
+
"parent_body": "robot0_right_hand"
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"init_robot_base_pos": [
|
| 604 |
+
5.896144851534221,
|
| 605 |
+
-2.3645168298770587,
|
| 606 |
+
0.0
|
| 607 |
+
],
|
| 608 |
+
"init_robot_base_ori": [
|
| 609 |
+
0.0,
|
| 610 |
+
0.0,
|
| 611 |
+
0.00030199704781619374
|
| 612 |
+
]
|
| 613 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000005/ep_meta.json
ADDED
|
@@ -0,0 +1,583 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 54,
|
| 3 |
+
"style_id": 55,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_1_main_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.980834,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_1_main_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.980834,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_1_main_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.08333947649999997,
|
| 107 |
+
0.08631646099999998,
|
| 108 |
+
0.061421799999999985
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"bread",
|
| 125 |
+
"bread_food",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "bread",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
1.0413000000000003,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-0.1570999999999998,
|
| 143 |
+
0.0,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_main_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "hingecabinet_1_main_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.05318319076000001,
|
| 159 |
+
0.09707054252000001,
|
| 160 |
+
0.07255429020000001
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"bread",
|
| 177 |
+
"bread_food",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "bread",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
1.0413000000000003,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
-0.1570999999999998,
|
| 195 |
+
0.0,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_1_main_group_1",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "hingecabinet_1_main_group_1",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.08947229999999999,
|
| 210 |
+
0.0872781,
|
| 211 |
+
0.008148
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"tomato_slice"
|
| 228 |
+
],
|
| 229 |
+
"groups": [
|
| 230 |
+
"all"
|
| 231 |
+
],
|
| 232 |
+
"cat": "tomato_slice",
|
| 233 |
+
"split": "train",
|
| 234 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice003/model.xml"
|
| 235 |
+
},
|
| 236 |
+
"reset_region": {
|
| 237 |
+
"size": [
|
| 238 |
+
1.0413000000000003,
|
| 239 |
+
0.65
|
| 240 |
+
],
|
| 241 |
+
"offset": [
|
| 242 |
+
-0.1570999999999998,
|
| 243 |
+
0.0,
|
| 244 |
+
0.46
|
| 245 |
+
],
|
| 246 |
+
"name": "geom_0"
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"fixtures": {
|
| 251 |
+
"wall_right_1_room": {
|
| 252 |
+
"cls": "Wall"
|
| 253 |
+
},
|
| 254 |
+
"wall_right_1_backing_room": {
|
| 255 |
+
"cls": "Wall"
|
| 256 |
+
},
|
| 257 |
+
"wall_main_1_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_main_1_backing_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"floor_1_room": {
|
| 264 |
+
"cls": "Floor"
|
| 265 |
+
},
|
| 266 |
+
"floor_1_backing_room": {
|
| 267 |
+
"cls": "Floor"
|
| 268 |
+
},
|
| 269 |
+
"wallaccessory_2_room": {
|
| 270 |
+
"cls": "WallAccessory"
|
| 271 |
+
},
|
| 272 |
+
"wallaccessory_1_room": {
|
| 273 |
+
"cls": "WallAccessory"
|
| 274 |
+
},
|
| 275 |
+
"wallaccessory_3_room": {
|
| 276 |
+
"cls": "WallAccessory"
|
| 277 |
+
},
|
| 278 |
+
"wallaccessory_4_room": {
|
| 279 |
+
"cls": "WallAccessory"
|
| 280 |
+
},
|
| 281 |
+
"window_group_room": {
|
| 282 |
+
"cls": "Window"
|
| 283 |
+
},
|
| 284 |
+
"stool_1_room": {
|
| 285 |
+
"cls": "Stool"
|
| 286 |
+
},
|
| 287 |
+
"stool_2_room": {
|
| 288 |
+
"cls": "Stool"
|
| 289 |
+
},
|
| 290 |
+
"stool_3_room": {
|
| 291 |
+
"cls": "Stool"
|
| 292 |
+
},
|
| 293 |
+
"stool_4_room": {
|
| 294 |
+
"cls": "Stool"
|
| 295 |
+
},
|
| 296 |
+
"fridgefrenchdoor_main_group_1": {
|
| 297 |
+
"cls": "FridgeFrenchDoor"
|
| 298 |
+
},
|
| 299 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 300 |
+
"cls": "HousingCabinet"
|
| 301 |
+
},
|
| 302 |
+
"bottom_main_group_1_base": {
|
| 303 |
+
"cls": "Box"
|
| 304 |
+
},
|
| 305 |
+
"bottom_main_group_1_1": {
|
| 306 |
+
"cls": "Drawer"
|
| 307 |
+
},
|
| 308 |
+
"microwave_main_group_1": {
|
| 309 |
+
"cls": "Microwave"
|
| 310 |
+
},
|
| 311 |
+
"oven_cabinet_main_group_1": {
|
| 312 |
+
"cls": "HingeCabinet"
|
| 313 |
+
},
|
| 314 |
+
"hingecabinet_4_main_group_1": {
|
| 315 |
+
"cls": "HingeCabinet"
|
| 316 |
+
},
|
| 317 |
+
"microwave_housing_main_group_1": {
|
| 318 |
+
"cls": "HousingCabinet"
|
| 319 |
+
},
|
| 320 |
+
"top_main_group_1": {
|
| 321 |
+
"cls": "HingeCabinet"
|
| 322 |
+
},
|
| 323 |
+
"hingecabinet_1_main_group_1": {
|
| 324 |
+
"cls": "HingeCabinet"
|
| 325 |
+
},
|
| 326 |
+
"hingecabinet_3_main_group_1": {
|
| 327 |
+
"cls": "HingeCabinet"
|
| 328 |
+
},
|
| 329 |
+
"singlecabinet_2_main_group_1": {
|
| 330 |
+
"cls": "SingleCabinet"
|
| 331 |
+
},
|
| 332 |
+
"cube_1_main_group_1": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"counter_1_main_group_1": {
|
| 336 |
+
"cls": "Counter"
|
| 337 |
+
},
|
| 338 |
+
"counter_2_main_group_1": {
|
| 339 |
+
"cls": "Counter"
|
| 340 |
+
},
|
| 341 |
+
"counter_corner_1_main_group_1": {
|
| 342 |
+
"cls": "Counter"
|
| 343 |
+
},
|
| 344 |
+
"stove_main_group_1": {
|
| 345 |
+
"cls": "Stove"
|
| 346 |
+
},
|
| 347 |
+
"stove_hood_main_group_1": {
|
| 348 |
+
"cls": "Hood"
|
| 349 |
+
},
|
| 350 |
+
"stack_03_main_group_1_base": {
|
| 351 |
+
"cls": "Box"
|
| 352 |
+
},
|
| 353 |
+
"stack_03_main_group_1_1": {
|
| 354 |
+
"cls": "Drawer"
|
| 355 |
+
},
|
| 356 |
+
"stack_03_main_group_1_2": {
|
| 357 |
+
"cls": "Drawer"
|
| 358 |
+
},
|
| 359 |
+
"stack_03_main_group_1_3": {
|
| 360 |
+
"cls": "Drawer"
|
| 361 |
+
},
|
| 362 |
+
"stack_02_main_group_1_base": {
|
| 363 |
+
"cls": "Box"
|
| 364 |
+
},
|
| 365 |
+
"stack_02_main_group_1_1": {
|
| 366 |
+
"cls": "HingeCabinet"
|
| 367 |
+
},
|
| 368 |
+
"stack_02_main_group_1_2": {
|
| 369 |
+
"cls": "Drawer"
|
| 370 |
+
},
|
| 371 |
+
"stack_01_main_group_1_base": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"stack_01_main_group_1_1": {
|
| 375 |
+
"cls": "SingleCabinet"
|
| 376 |
+
},
|
| 377 |
+
"papertowel_main_group_1": {
|
| 378 |
+
"cls": "Accessory"
|
| 379 |
+
},
|
| 380 |
+
"coffee_machine_main_group_1": {
|
| 381 |
+
"cls": "CoffeeMachine"
|
| 382 |
+
},
|
| 383 |
+
"toaster_oven_main_group_1": {
|
| 384 |
+
"cls": "ToasterOven"
|
| 385 |
+
},
|
| 386 |
+
"opencabinet_1_right_group_1": {
|
| 387 |
+
"cls": "OpenCabinet"
|
| 388 |
+
},
|
| 389 |
+
"cube_3_right_group_1": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"cube_4_right_group_1": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"hingecabinet_6_right_group_1": {
|
| 396 |
+
"cls": "HingeCabinet"
|
| 397 |
+
},
|
| 398 |
+
"hingecabinet_5_right_group_1": {
|
| 399 |
+
"cls": "HingeCabinet"
|
| 400 |
+
},
|
| 401 |
+
"sink_right_group_1": {
|
| 402 |
+
"cls": "Sink"
|
| 403 |
+
},
|
| 404 |
+
"counter_4_right_group_1": {
|
| 405 |
+
"cls": "Counter"
|
| 406 |
+
},
|
| 407 |
+
"stack_05_right_group_1_base": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"stack_05_right_group_1_1": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"stack_05_right_group_1_2": {
|
| 414 |
+
"cls": "PanelCabinet"
|
| 415 |
+
},
|
| 416 |
+
"stack_04_right_group_1_base": {
|
| 417 |
+
"cls": "Box"
|
| 418 |
+
},
|
| 419 |
+
"stack_04_right_group_1_1": {
|
| 420 |
+
"cls": "SingleCabinet"
|
| 421 |
+
},
|
| 422 |
+
"stack_06_right_group_1_base": {
|
| 423 |
+
"cls": "Box"
|
| 424 |
+
},
|
| 425 |
+
"stack_06_right_group_1_1": {
|
| 426 |
+
"cls": "SingleCabinet"
|
| 427 |
+
},
|
| 428 |
+
"cube_2_right_group_1": {
|
| 429 |
+
"cls": "Box"
|
| 430 |
+
},
|
| 431 |
+
"cube_1_right_group_1": {
|
| 432 |
+
"cls": "Box"
|
| 433 |
+
},
|
| 434 |
+
"toaster_right_group_1": {
|
| 435 |
+
"cls": "Toaster"
|
| 436 |
+
},
|
| 437 |
+
"island_island_group_1": {
|
| 438 |
+
"cls": "Counter"
|
| 439 |
+
},
|
| 440 |
+
"stack_07_island_group_1_base": {
|
| 441 |
+
"cls": "Box"
|
| 442 |
+
},
|
| 443 |
+
"stack_07_island_group_1_1": {
|
| 444 |
+
"cls": "SingleCabinet"
|
| 445 |
+
},
|
| 446 |
+
"stack_07_island_group_1_2": {
|
| 447 |
+
"cls": "Drawer"
|
| 448 |
+
},
|
| 449 |
+
"stack_08_island_group_1_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_08_island_group_1_1": {
|
| 453 |
+
"cls": "HingeCabinet"
|
| 454 |
+
},
|
| 455 |
+
"stack_08_island_group_1_2": {
|
| 456 |
+
"cls": "Drawer"
|
| 457 |
+
},
|
| 458 |
+
"cube_3_island_group_1": {
|
| 459 |
+
"cls": "Box"
|
| 460 |
+
},
|
| 461 |
+
"cube_4_island_group_1": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"stack_06_island_group_1_base": {
|
| 465 |
+
"cls": "Box"
|
| 466 |
+
},
|
| 467 |
+
"stack_06_island_group_1_1": {
|
| 468 |
+
"cls": "SingleCabinet"
|
| 469 |
+
},
|
| 470 |
+
"stack_06_island_group_1_2": {
|
| 471 |
+
"cls": "Drawer"
|
| 472 |
+
},
|
| 473 |
+
"cube_1_island_group_1": {
|
| 474 |
+
"cls": "Box"
|
| 475 |
+
},
|
| 476 |
+
"cube_2_island_group_1": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"dishwasher_1_island_group_1": {
|
| 480 |
+
"cls": "Dishwasher"
|
| 481 |
+
},
|
| 482 |
+
"plant_island_group_1": {
|
| 483 |
+
"cls": "Accessory"
|
| 484 |
+
}
|
| 485 |
+
},
|
| 486 |
+
"gen_textures": {},
|
| 487 |
+
"lang": "Pick both bowls and place them on the counter. Then place the bread in one bowl and place the bread in the other bowl.",
|
| 488 |
+
"fixture_refs": {
|
| 489 |
+
"cab": "hingecabinet_1_main_group_1",
|
| 490 |
+
"counter": "counter_1_main_group_1"
|
| 491 |
+
},
|
| 492 |
+
"cam_configs": {
|
| 493 |
+
"robot0_agentview_center": {
|
| 494 |
+
"pos": [
|
| 495 |
+
-0.6,
|
| 496 |
+
0.0,
|
| 497 |
+
1.15
|
| 498 |
+
],
|
| 499 |
+
"quat": [
|
| 500 |
+
0.636945903301239,
|
| 501 |
+
0.3325185477733612,
|
| 502 |
+
-0.3199238181114197,
|
| 503 |
+
-0.6175596117973328
|
| 504 |
+
],
|
| 505 |
+
"parent_body": "mobilebase0_support"
|
| 506 |
+
},
|
| 507 |
+
"robot0_agentview_left": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.5,
|
| 510 |
+
0.35,
|
| 511 |
+
1.05
|
| 512 |
+
],
|
| 513 |
+
"quat": [
|
| 514 |
+
0.55623853,
|
| 515 |
+
0.29935253,
|
| 516 |
+
-0.37678665,
|
| 517 |
+
-0.6775092
|
| 518 |
+
],
|
| 519 |
+
"camera_attribs": {
|
| 520 |
+
"fovy": "60"
|
| 521 |
+
},
|
| 522 |
+
"parent_body": "mobilebase0_support"
|
| 523 |
+
},
|
| 524 |
+
"robot0_agentview_right": {
|
| 525 |
+
"pos": [
|
| 526 |
+
-0.5,
|
| 527 |
+
-0.35,
|
| 528 |
+
1.05
|
| 529 |
+
],
|
| 530 |
+
"quat": [
|
| 531 |
+
0.6775091886520386,
|
| 532 |
+
0.3767866790294647,
|
| 533 |
+
-0.2993525564670563,
|
| 534 |
+
-0.55623859167099
|
| 535 |
+
],
|
| 536 |
+
"camera_attribs": {
|
| 537 |
+
"fovy": "60"
|
| 538 |
+
},
|
| 539 |
+
"parent_body": "mobilebase0_support"
|
| 540 |
+
},
|
| 541 |
+
"robot0_frontview": {
|
| 542 |
+
"pos": [
|
| 543 |
+
-0.5,
|
| 544 |
+
0,
|
| 545 |
+
0.95
|
| 546 |
+
],
|
| 547 |
+
"quat": [
|
| 548 |
+
0.6088936924934387,
|
| 549 |
+
0.3814677894115448,
|
| 550 |
+
-0.3673907518386841,
|
| 551 |
+
-0.5905545353889465
|
| 552 |
+
],
|
| 553 |
+
"camera_attribs": {
|
| 554 |
+
"fovy": "60"
|
| 555 |
+
},
|
| 556 |
+
"parent_body": "mobilebase0_support"
|
| 557 |
+
},
|
| 558 |
+
"robot0_eye_in_hand": {
|
| 559 |
+
"pos": [
|
| 560 |
+
0.05,
|
| 561 |
+
0,
|
| 562 |
+
0
|
| 563 |
+
],
|
| 564 |
+
"quat": [
|
| 565 |
+
0,
|
| 566 |
+
0.707107,
|
| 567 |
+
0.707107,
|
| 568 |
+
0
|
| 569 |
+
],
|
| 570 |
+
"parent_body": "robot0_right_hand"
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"init_robot_base_pos": [
|
| 574 |
+
4.250063205558059,
|
| 575 |
+
-0.9557120007636861,
|
| 576 |
+
0.0
|
| 577 |
+
],
|
| 578 |
+
"init_robot_base_ori": [
|
| 579 |
+
0.0,
|
| 580 |
+
0.0,
|
| 581 |
+
1.5706379572530664
|
| 582 |
+
]
|
| 583 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000006/ep_meta.json
ADDED
|
@@ -0,0 +1,605 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 27,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_main_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.74,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_main_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.74,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_main_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.0852368275144514,
|
| 107 |
+
0.12627049048764677,
|
| 108 |
+
0.07772736160054913
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"steak",
|
| 125 |
+
"meat",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"oven_ready"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"food"
|
| 132 |
+
],
|
| 133 |
+
"cat": "steak",
|
| 134 |
+
"split": "train",
|
| 135 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml"
|
| 136 |
+
},
|
| 137 |
+
"reset_region": {
|
| 138 |
+
"size": [
|
| 139 |
+
0.8000000000000012,
|
| 140 |
+
0.65
|
| 141 |
+
],
|
| 142 |
+
"offset": [
|
| 143 |
+
0.8599999999999994,
|
| 144 |
+
-3.469446951953614e-17,
|
| 145 |
+
0.46
|
| 146 |
+
],
|
| 147 |
+
"name": "geom_0"
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"name": "food2",
|
| 152 |
+
"obj_groups": "food",
|
| 153 |
+
"graspable": true,
|
| 154 |
+
"placement": {
|
| 155 |
+
"fixture": "counter_1_main_group",
|
| 156 |
+
"sample_region_kwargs": {
|
| 157 |
+
"ref": "cab_1_main_group",
|
| 158 |
+
"min_size": [
|
| 159 |
+
0.06883066499999999,
|
| 160 |
+
0.14894569499999996,
|
| 161 |
+
0.10287241874999996
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"size": [
|
| 165 |
+
0.6,
|
| 166 |
+
0.3
|
| 167 |
+
],
|
| 168 |
+
"pos": [
|
| 169 |
+
"ref",
|
| 170 |
+
-1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"type": "object",
|
| 174 |
+
"info": {
|
| 175 |
+
"groups_containing_sampled_obj": [
|
| 176 |
+
"all",
|
| 177 |
+
"fish",
|
| 178 |
+
"meat",
|
| 179 |
+
"food",
|
| 180 |
+
"in_container",
|
| 181 |
+
"oven_ready"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
+
"food"
|
| 185 |
+
],
|
| 186 |
+
"cat": "fish",
|
| 187 |
+
"split": "train",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml"
|
| 189 |
+
},
|
| 190 |
+
"reset_region": {
|
| 191 |
+
"size": [
|
| 192 |
+
0.8000000000000012,
|
| 193 |
+
0.65
|
| 194 |
+
],
|
| 195 |
+
"offset": [
|
| 196 |
+
0.8599999999999994,
|
| 197 |
+
-3.469446951953614e-17,
|
| 198 |
+
0.46
|
| 199 |
+
],
|
| 200 |
+
"name": "geom_0"
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "distr_counter",
|
| 205 |
+
"obj_groups": "all",
|
| 206 |
+
"placement": {
|
| 207 |
+
"fixture": "counter_1_main_group",
|
| 208 |
+
"sample_region_kwargs": {
|
| 209 |
+
"ref": "cab_1_main_group",
|
| 210 |
+
"min_size": [
|
| 211 |
+
0.11647435904999998,
|
| 212 |
+
0.04890901500000001,
|
| 213 |
+
0.20249999999999996
|
| 214 |
+
]
|
| 215 |
+
},
|
| 216 |
+
"size": [
|
| 217 |
+
0.5,
|
| 218 |
+
0.2
|
| 219 |
+
],
|
| 220 |
+
"pos": [
|
| 221 |
+
"ref",
|
| 222 |
+
1.0
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"type": "object",
|
| 226 |
+
"info": {
|
| 227 |
+
"groups_containing_sampled_obj": [
|
| 228 |
+
"all",
|
| 229 |
+
"liquor",
|
| 230 |
+
"alcohol",
|
| 231 |
+
"drink"
|
| 232 |
+
],
|
| 233 |
+
"groups": [
|
| 234 |
+
"all"
|
| 235 |
+
],
|
| 236 |
+
"cat": "liquor",
|
| 237 |
+
"split": "train",
|
| 238 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml"
|
| 239 |
+
},
|
| 240 |
+
"reset_region": {
|
| 241 |
+
"size": [
|
| 242 |
+
0.8000000000000012,
|
| 243 |
+
0.65
|
| 244 |
+
],
|
| 245 |
+
"offset": [
|
| 246 |
+
0.8599999999999994,
|
| 247 |
+
-3.469446951953614e-17,
|
| 248 |
+
0.46
|
| 249 |
+
],
|
| 250 |
+
"name": "geom_0"
|
| 251 |
+
}
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"fixtures": {
|
| 255 |
+
"wall_left_1_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_left_1_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_main_1_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_main_1_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_right_1_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_right_1_backing_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_main_2_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_main_2_backing_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"floor_1_room": {
|
| 280 |
+
"cls": "Floor"
|
| 281 |
+
},
|
| 282 |
+
"floor_1_backing_room": {
|
| 283 |
+
"cls": "Floor"
|
| 284 |
+
},
|
| 285 |
+
"floor_2_room": {
|
| 286 |
+
"cls": "Floor"
|
| 287 |
+
},
|
| 288 |
+
"floor_2_backing_room": {
|
| 289 |
+
"cls": "Floor"
|
| 290 |
+
},
|
| 291 |
+
"wall_accessory_1_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"wall_accessory_2_room": {
|
| 295 |
+
"cls": "WallAccessory"
|
| 296 |
+
},
|
| 297 |
+
"wall_accessory_3_room": {
|
| 298 |
+
"cls": "WallAccessory"
|
| 299 |
+
},
|
| 300 |
+
"wall_accessory_4_room": {
|
| 301 |
+
"cls": "WallAccessory"
|
| 302 |
+
},
|
| 303 |
+
"light_switch_1_room": {
|
| 304 |
+
"cls": "WallAccessory"
|
| 305 |
+
},
|
| 306 |
+
"window_group_1_room": {
|
| 307 |
+
"cls": "Window"
|
| 308 |
+
},
|
| 309 |
+
"window_group_2_room": {
|
| 310 |
+
"cls": "Window"
|
| 311 |
+
},
|
| 312 |
+
"window_group_3_room": {
|
| 313 |
+
"cls": "Window"
|
| 314 |
+
},
|
| 315 |
+
"window_group_4_room": {
|
| 316 |
+
"cls": "Window"
|
| 317 |
+
},
|
| 318 |
+
"stool_1_room": {
|
| 319 |
+
"cls": "Stool"
|
| 320 |
+
},
|
| 321 |
+
"stool_2_room": {
|
| 322 |
+
"cls": "Stool"
|
| 323 |
+
},
|
| 324 |
+
"stool_3_room": {
|
| 325 |
+
"cls": "Stool"
|
| 326 |
+
},
|
| 327 |
+
"counter_corner_main_group": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
+
},
|
| 330 |
+
"sink_1_main_group": {
|
| 331 |
+
"cls": "Sink"
|
| 332 |
+
},
|
| 333 |
+
"counter_1_main_group": {
|
| 334 |
+
"cls": "Counter"
|
| 335 |
+
},
|
| 336 |
+
"box_main_group": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_1_main_group_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_1_main_group_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_2_main_group_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_2_main_group_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_main_group_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_3_main_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"stack_3_main_group_2": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"stack_3_main_group_3": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_4_main_group_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_4_main_group_1": {
|
| 367 |
+
"cls": "SingleCabinet"
|
| 368 |
+
},
|
| 369 |
+
"stack_4_main_group_2": {
|
| 370 |
+
"cls": "SingleCabinet"
|
| 371 |
+
},
|
| 372 |
+
"bottom_main_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"bottom_main_group_1": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"middle_main_group": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"microwave_main_group": {
|
| 382 |
+
"cls": "Microwave"
|
| 383 |
+
},
|
| 384 |
+
"microwave_housing_main_group": {
|
| 385 |
+
"cls": "HousingCabinet"
|
| 386 |
+
},
|
| 387 |
+
"top_main_group": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"cab_1_main_group": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"cab_2_main_group": {
|
| 394 |
+
"cls": "SingleCabinet"
|
| 395 |
+
},
|
| 396 |
+
"toaster_main_group": {
|
| 397 |
+
"cls": "Toaster"
|
| 398 |
+
},
|
| 399 |
+
"paper_towel_main_group": {
|
| 400 |
+
"cls": "Accessory"
|
| 401 |
+
},
|
| 402 |
+
"counter_1_left_group": {
|
| 403 |
+
"cls": "Counter"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_left_group_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_left_group_1": {
|
| 409 |
+
"cls": "SingleCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_left_group_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_left_group_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_left_group_1": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_2_left_group_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_left_group_3": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"dishwasher_left_group": {
|
| 427 |
+
"cls": "Dishwasher"
|
| 428 |
+
},
|
| 429 |
+
"box_left_group": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"fridge_left_group": {
|
| 433 |
+
"cls": "FridgeBottomFreezer"
|
| 434 |
+
},
|
| 435 |
+
"fridge_housing_left_group": {
|
| 436 |
+
"cls": "HousingCabinet"
|
| 437 |
+
},
|
| 438 |
+
"fridge_top_left_group": {
|
| 439 |
+
"cls": "HingeCabinet"
|
| 440 |
+
},
|
| 441 |
+
"cab_1_left_group": {
|
| 442 |
+
"cls": "HingeCabinet"
|
| 443 |
+
},
|
| 444 |
+
"coffee_machine_left_group": {
|
| 445 |
+
"cls": "CoffeeMachine"
|
| 446 |
+
},
|
| 447 |
+
"toaster_oven_left_group": {
|
| 448 |
+
"cls": "ToasterOven"
|
| 449 |
+
},
|
| 450 |
+
"counter_1_front_group": {
|
| 451 |
+
"cls": "Counter"
|
| 452 |
+
},
|
| 453 |
+
"stove_front_group": {
|
| 454 |
+
"cls": "Stove"
|
| 455 |
+
},
|
| 456 |
+
"counter_2_front_group": {
|
| 457 |
+
"cls": "Counter"
|
| 458 |
+
},
|
| 459 |
+
"counter_3_front_group": {
|
| 460 |
+
"cls": "Counter"
|
| 461 |
+
},
|
| 462 |
+
"counter_4_front_group": {
|
| 463 |
+
"cls": "Counter"
|
| 464 |
+
},
|
| 465 |
+
"counter_5_front_group": {
|
| 466 |
+
"cls": "Counter"
|
| 467 |
+
},
|
| 468 |
+
"stack_1_front_group_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_1_front_group_1": {
|
| 472 |
+
"cls": "HingeCabinet"
|
| 473 |
+
},
|
| 474 |
+
"stack_1_front_group_2": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_2_front_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_2_front_group_1": {
|
| 481 |
+
"cls": "SingleCabinet"
|
| 482 |
+
},
|
| 483 |
+
"stack_2_front_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_3_front_group_base": {
|
| 487 |
+
"cls": "Box"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_front_group_1": {
|
| 490 |
+
"cls": "SingleCabinet"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_front_group_2": {
|
| 493 |
+
"cls": "Drawer"
|
| 494 |
+
},
|
| 495 |
+
"box_1_front_group": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"box_2_front_group": {
|
| 499 |
+
"cls": "Box"
|
| 500 |
+
},
|
| 501 |
+
"box_3_front_group": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"hood_front_group": {
|
| 505 |
+
"cls": "Hood"
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"gen_textures": {},
|
| 509 |
+
"lang": "Pick both bowls and place them on the counter. Then place the steak in one bowl and place the fish in the other bowl.",
|
| 510 |
+
"fixture_refs": {
|
| 511 |
+
"cab": "cab_1_main_group",
|
| 512 |
+
"counter": "counter_1_main_group"
|
| 513 |
+
},
|
| 514 |
+
"cam_configs": {
|
| 515 |
+
"robot0_agentview_center": {
|
| 516 |
+
"pos": [
|
| 517 |
+
-0.6,
|
| 518 |
+
0.0,
|
| 519 |
+
1.15
|
| 520 |
+
],
|
| 521 |
+
"quat": [
|
| 522 |
+
0.636945903301239,
|
| 523 |
+
0.3325185477733612,
|
| 524 |
+
-0.3199238181114197,
|
| 525 |
+
-0.6175596117973328
|
| 526 |
+
],
|
| 527 |
+
"parent_body": "mobilebase0_support"
|
| 528 |
+
},
|
| 529 |
+
"robot0_agentview_left": {
|
| 530 |
+
"pos": [
|
| 531 |
+
-0.5,
|
| 532 |
+
0.35,
|
| 533 |
+
1.05
|
| 534 |
+
],
|
| 535 |
+
"quat": [
|
| 536 |
+
0.55623853,
|
| 537 |
+
0.29935253,
|
| 538 |
+
-0.37678665,
|
| 539 |
+
-0.6775092
|
| 540 |
+
],
|
| 541 |
+
"camera_attribs": {
|
| 542 |
+
"fovy": "60"
|
| 543 |
+
},
|
| 544 |
+
"parent_body": "mobilebase0_support"
|
| 545 |
+
},
|
| 546 |
+
"robot0_agentview_right": {
|
| 547 |
+
"pos": [
|
| 548 |
+
-0.5,
|
| 549 |
+
-0.35,
|
| 550 |
+
1.05
|
| 551 |
+
],
|
| 552 |
+
"quat": [
|
| 553 |
+
0.6775091886520386,
|
| 554 |
+
0.3767866790294647,
|
| 555 |
+
-0.2993525564670563,
|
| 556 |
+
-0.55623859167099
|
| 557 |
+
],
|
| 558 |
+
"camera_attribs": {
|
| 559 |
+
"fovy": "60"
|
| 560 |
+
},
|
| 561 |
+
"parent_body": "mobilebase0_support"
|
| 562 |
+
},
|
| 563 |
+
"robot0_frontview": {
|
| 564 |
+
"pos": [
|
| 565 |
+
-0.5,
|
| 566 |
+
0,
|
| 567 |
+
0.95
|
| 568 |
+
],
|
| 569 |
+
"quat": [
|
| 570 |
+
0.6088936924934387,
|
| 571 |
+
0.3814677894115448,
|
| 572 |
+
-0.3673907518386841,
|
| 573 |
+
-0.5905545353889465
|
| 574 |
+
],
|
| 575 |
+
"camera_attribs": {
|
| 576 |
+
"fovy": "60"
|
| 577 |
+
},
|
| 578 |
+
"parent_body": "mobilebase0_support"
|
| 579 |
+
},
|
| 580 |
+
"robot0_eye_in_hand": {
|
| 581 |
+
"pos": [
|
| 582 |
+
0.05,
|
| 583 |
+
0,
|
| 584 |
+
0
|
| 585 |
+
],
|
| 586 |
+
"quat": [
|
| 587 |
+
0,
|
| 588 |
+
0.707107,
|
| 589 |
+
0.707107,
|
| 590 |
+
0
|
| 591 |
+
],
|
| 592 |
+
"parent_body": "robot0_right_hand"
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"init_robot_base_pos": [
|
| 596 |
+
2.8874963934311797,
|
| 597 |
+
-0.8436900427251373,
|
| 598 |
+
0.0
|
| 599 |
+
],
|
| 600 |
+
"init_robot_base_ori": [
|
| 601 |
+
0.0,
|
| 602 |
+
0.0,
|
| 603 |
+
1.5707963267948966
|
| 604 |
+
]
|
| 605 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000009/ep_meta.json
ADDED
|
@@ -0,0 +1,592 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 19,
|
| 3 |
+
"style_id": 27,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_left_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"stackable",
|
| 26 |
+
"receptacle",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.78,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_left_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"stackable",
|
| 72 |
+
"receptacle",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.78,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_left_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_left_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.05318319076000001,
|
| 107 |
+
0.09707054252000001,
|
| 108 |
+
0.07255429020000001
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"bread",
|
| 125 |
+
"bread_food",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "bread",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
0.8399999999999999,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-0.8300000000000001,
|
| 143 |
+
-3.469446951953614e-17,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_left_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "cab_1_left_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.06820440165000001,
|
| 159 |
+
0.06787704892500002,
|
| 160 |
+
0.06796698187500001
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"apple",
|
| 177 |
+
"fruit",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container",
|
| 180 |
+
"food_set1",
|
| 181 |
+
"group1"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
+
"food"
|
| 185 |
+
],
|
| 186 |
+
"cat": "apple",
|
| 187 |
+
"split": "train",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_0/model.xml"
|
| 189 |
+
},
|
| 190 |
+
"reset_region": {
|
| 191 |
+
"size": [
|
| 192 |
+
0.8399999999999999,
|
| 193 |
+
0.65
|
| 194 |
+
],
|
| 195 |
+
"offset": [
|
| 196 |
+
-0.8300000000000001,
|
| 197 |
+
-3.469446951953614e-17,
|
| 198 |
+
0.46
|
| 199 |
+
],
|
| 200 |
+
"name": "geom_0"
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "distr_counter",
|
| 205 |
+
"obj_groups": "all",
|
| 206 |
+
"placement": {
|
| 207 |
+
"fixture": "counter_1_left_group_1",
|
| 208 |
+
"sample_region_kwargs": {
|
| 209 |
+
"ref": "cab_1_left_group_1",
|
| 210 |
+
"min_size": [
|
| 211 |
+
0.06004016399999999,
|
| 212 |
+
0.060040236,
|
| 213 |
+
0.1326396
|
| 214 |
+
]
|
| 215 |
+
},
|
| 216 |
+
"size": [
|
| 217 |
+
0.5,
|
| 218 |
+
0.2
|
| 219 |
+
],
|
| 220 |
+
"pos": [
|
| 221 |
+
"ref",
|
| 222 |
+
1.0
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"type": "object",
|
| 226 |
+
"info": {
|
| 227 |
+
"groups_containing_sampled_obj": [
|
| 228 |
+
"all",
|
| 229 |
+
"cinnamon",
|
| 230 |
+
"spice"
|
| 231 |
+
],
|
| 232 |
+
"groups": [
|
| 233 |
+
"all"
|
| 234 |
+
],
|
| 235 |
+
"cat": "cinnamon",
|
| 236 |
+
"split": "train",
|
| 237 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon004/model.xml"
|
| 238 |
+
},
|
| 239 |
+
"reset_region": {
|
| 240 |
+
"size": [
|
| 241 |
+
0.8399999999999999,
|
| 242 |
+
0.65
|
| 243 |
+
],
|
| 244 |
+
"offset": [
|
| 245 |
+
-0.8300000000000001,
|
| 246 |
+
-3.469446951953614e-17,
|
| 247 |
+
0.46
|
| 248 |
+
],
|
| 249 |
+
"name": "geom_0"
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
],
|
| 253 |
+
"fixtures": {
|
| 254 |
+
"wall_left_1_room": {
|
| 255 |
+
"cls": "Wall"
|
| 256 |
+
},
|
| 257 |
+
"wall_left_1_backing_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_main_1_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_main_1_backing_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"wall_main_3_room": {
|
| 267 |
+
"cls": "Wall"
|
| 268 |
+
},
|
| 269 |
+
"wall_main_3_backing_room": {
|
| 270 |
+
"cls": "Wall"
|
| 271 |
+
},
|
| 272 |
+
"wall_main_2_room": {
|
| 273 |
+
"cls": "Wall"
|
| 274 |
+
},
|
| 275 |
+
"wall_main_2_backing_room": {
|
| 276 |
+
"cls": "Wall"
|
| 277 |
+
},
|
| 278 |
+
"wall_right_1_room": {
|
| 279 |
+
"cls": "Wall"
|
| 280 |
+
},
|
| 281 |
+
"wall_right_1_backing_room": {
|
| 282 |
+
"cls": "Wall"
|
| 283 |
+
},
|
| 284 |
+
"floor_1_room": {
|
| 285 |
+
"cls": "Floor"
|
| 286 |
+
},
|
| 287 |
+
"floor_1_backing_room": {
|
| 288 |
+
"cls": "Floor"
|
| 289 |
+
},
|
| 290 |
+
"wall_accessory_1_room": {
|
| 291 |
+
"cls": "WallAccessory"
|
| 292 |
+
},
|
| 293 |
+
"wall_accessory_2_room": {
|
| 294 |
+
"cls": "WallAccessory"
|
| 295 |
+
},
|
| 296 |
+
"wall_accessory_3_room": {
|
| 297 |
+
"cls": "WallAccessory"
|
| 298 |
+
},
|
| 299 |
+
"light_switch_1_room": {
|
| 300 |
+
"cls": "WallAccessory"
|
| 301 |
+
},
|
| 302 |
+
"window_group_room": {
|
| 303 |
+
"cls": "Window"
|
| 304 |
+
},
|
| 305 |
+
"stool_1_room": {
|
| 306 |
+
"cls": "Stool"
|
| 307 |
+
},
|
| 308 |
+
"stool_2_room": {
|
| 309 |
+
"cls": "Stool"
|
| 310 |
+
},
|
| 311 |
+
"sink_left_group_1": {
|
| 312 |
+
"cls": "Sink"
|
| 313 |
+
},
|
| 314 |
+
"counter_1_left_group_1": {
|
| 315 |
+
"cls": "Counter"
|
| 316 |
+
},
|
| 317 |
+
"stack_1_left_group_1_base": {
|
| 318 |
+
"cls": "Box"
|
| 319 |
+
},
|
| 320 |
+
"stack_1_left_group_1_1": {
|
| 321 |
+
"cls": "HingeCabinet"
|
| 322 |
+
},
|
| 323 |
+
"stack_1_left_group_1_2": {
|
| 324 |
+
"cls": "Drawer"
|
| 325 |
+
},
|
| 326 |
+
"stack_1_left_group_1_3": {
|
| 327 |
+
"cls": "Drawer"
|
| 328 |
+
},
|
| 329 |
+
"stack_2_left_group_1_base": {
|
| 330 |
+
"cls": "Box"
|
| 331 |
+
},
|
| 332 |
+
"stack_2_left_group_1_1": {
|
| 333 |
+
"cls": "HingeCabinet"
|
| 334 |
+
},
|
| 335 |
+
"stack_2_left_group_1_2": {
|
| 336 |
+
"cls": "PanelCabinet"
|
| 337 |
+
},
|
| 338 |
+
"stack_3_left_group_1_base": {
|
| 339 |
+
"cls": "Box"
|
| 340 |
+
},
|
| 341 |
+
"stack_3_left_group_1_1": {
|
| 342 |
+
"cls": "HingeCabinet"
|
| 343 |
+
},
|
| 344 |
+
"stack_3_left_group_1_2": {
|
| 345 |
+
"cls": "Drawer"
|
| 346 |
+
},
|
| 347 |
+
"stack_3_left_group_1_3": {
|
| 348 |
+
"cls": "Drawer"
|
| 349 |
+
},
|
| 350 |
+
"cab_1_left_group_1": {
|
| 351 |
+
"cls": "HingeCabinet"
|
| 352 |
+
},
|
| 353 |
+
"cab_2_left_group_1": {
|
| 354 |
+
"cls": "HingeCabinet"
|
| 355 |
+
},
|
| 356 |
+
"cab_3_left_group_1": {
|
| 357 |
+
"cls": "HingeCabinet"
|
| 358 |
+
},
|
| 359 |
+
"bottom_left_group_1_base": {
|
| 360 |
+
"cls": "Box"
|
| 361 |
+
},
|
| 362 |
+
"bottom_left_group_1_1": {
|
| 363 |
+
"cls": "Drawer"
|
| 364 |
+
},
|
| 365 |
+
"middle_1_left_group_1": {
|
| 366 |
+
"cls": "HingeCabinet"
|
| 367 |
+
},
|
| 368 |
+
"middle_2_left_group_1": {
|
| 369 |
+
"cls": "HingeCabinet"
|
| 370 |
+
},
|
| 371 |
+
"top_1_left_group_1": {
|
| 372 |
+
"cls": "HingeCabinet"
|
| 373 |
+
},
|
| 374 |
+
"toaster_oven_left_group_1": {
|
| 375 |
+
"cls": "ToasterOven"
|
| 376 |
+
},
|
| 377 |
+
"counter_1_right_group_1": {
|
| 378 |
+
"cls": "Counter"
|
| 379 |
+
},
|
| 380 |
+
"counter_corner_right_group_1": {
|
| 381 |
+
"cls": "Counter"
|
| 382 |
+
},
|
| 383 |
+
"box_1_right_group_1": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"stack_1_right_group_1_base": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_1_right_group_1_1": {
|
| 390 |
+
"cls": "SingleCabinet"
|
| 391 |
+
},
|
| 392 |
+
"stack_1_right_group_1_2": {
|
| 393 |
+
"cls": "Drawer"
|
| 394 |
+
},
|
| 395 |
+
"dishwasher_1_right_group_1": {
|
| 396 |
+
"cls": "Dishwasher"
|
| 397 |
+
},
|
| 398 |
+
"stack_2_right_group_1_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_right_group_1_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_2_right_group_1_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"box_2_right_group_1": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"cab_1_right_group_1": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"coffee_machine_right_group_1": {
|
| 414 |
+
"cls": "CoffeeMachine"
|
| 415 |
+
},
|
| 416 |
+
"toaster_right_group_1": {
|
| 417 |
+
"cls": "Toaster"
|
| 418 |
+
},
|
| 419 |
+
"paper_towel_right_group_1": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"counter_corner_1_main_group_3": {
|
| 423 |
+
"cls": "Counter"
|
| 424 |
+
},
|
| 425 |
+
"stove_main_group_3": {
|
| 426 |
+
"cls": "Stove"
|
| 427 |
+
},
|
| 428 |
+
"fridge_1_main_group_3": {
|
| 429 |
+
"cls": "FridgeBottomFreezer"
|
| 430 |
+
},
|
| 431 |
+
"fridge_1_housing_main_group_3": {
|
| 432 |
+
"cls": "HousingCabinet"
|
| 433 |
+
},
|
| 434 |
+
"top_1_main_group_3": {
|
| 435 |
+
"cls": "HingeCabinet"
|
| 436 |
+
},
|
| 437 |
+
"cab_1_main_group_3": {
|
| 438 |
+
"cls": "OpenCabinet"
|
| 439 |
+
},
|
| 440 |
+
"microwave_main_group_3": {
|
| 441 |
+
"cls": "Microwave"
|
| 442 |
+
},
|
| 443 |
+
"cab_micro_main_group_3": {
|
| 444 |
+
"cls": "HingeCabinet"
|
| 445 |
+
},
|
| 446 |
+
"cab_corner_main_group_3": {
|
| 447 |
+
"cls": "Box"
|
| 448 |
+
},
|
| 449 |
+
"dining_dining_area_group": {
|
| 450 |
+
"cls": "Counter"
|
| 451 |
+
},
|
| 452 |
+
"box_dining_area_group": {
|
| 453 |
+
"cls": "Box"
|
| 454 |
+
},
|
| 455 |
+
"stack_1_dining_area_group_base": {
|
| 456 |
+
"cls": "Box"
|
| 457 |
+
},
|
| 458 |
+
"stack_1_dining_area_group_1": {
|
| 459 |
+
"cls": "SingleCabinet"
|
| 460 |
+
},
|
| 461 |
+
"stack_1_dining_area_group_2": {
|
| 462 |
+
"cls": "Drawer"
|
| 463 |
+
},
|
| 464 |
+
"stack_2_dining_area_group_base": {
|
| 465 |
+
"cls": "Box"
|
| 466 |
+
},
|
| 467 |
+
"stack_2_dining_area_group_1": {
|
| 468 |
+
"cls": "Drawer"
|
| 469 |
+
},
|
| 470 |
+
"stack_2_dining_area_group_2": {
|
| 471 |
+
"cls": "Drawer"
|
| 472 |
+
},
|
| 473 |
+
"stack_2_dining_area_group_3": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"stack_2_dining_area_group_4": {
|
| 477 |
+
"cls": "Drawer"
|
| 478 |
+
},
|
| 479 |
+
"stack_3_dining_area_group_base": {
|
| 480 |
+
"cls": "Box"
|
| 481 |
+
},
|
| 482 |
+
"stack_3_dining_area_group_1": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_3_dining_area_group_2": {
|
| 486 |
+
"cls": "Drawer"
|
| 487 |
+
},
|
| 488 |
+
"stack_3_dining_area_group_3": {
|
| 489 |
+
"cls": "Drawer"
|
| 490 |
+
},
|
| 491 |
+
"stack_3_dining_area_group_4": {
|
| 492 |
+
"cls": "Drawer"
|
| 493 |
+
}
|
| 494 |
+
},
|
| 495 |
+
"gen_textures": {},
|
| 496 |
+
"lang": "Pick both bowls and place them on the counter. Then place the bread in one bowl and place the apple in the other bowl.",
|
| 497 |
+
"fixture_refs": {
|
| 498 |
+
"cab": "cab_1_left_group_1",
|
| 499 |
+
"counter": "counter_1_left_group_1"
|
| 500 |
+
},
|
| 501 |
+
"cam_configs": {
|
| 502 |
+
"robot0_agentview_center": {
|
| 503 |
+
"pos": [
|
| 504 |
+
-0.6,
|
| 505 |
+
0.0,
|
| 506 |
+
1.15
|
| 507 |
+
],
|
| 508 |
+
"quat": [
|
| 509 |
+
0.636945903301239,
|
| 510 |
+
0.3325185477733612,
|
| 511 |
+
-0.3199238181114197,
|
| 512 |
+
-0.6175596117973328
|
| 513 |
+
],
|
| 514 |
+
"parent_body": "mobilebase0_support"
|
| 515 |
+
},
|
| 516 |
+
"robot0_agentview_left": {
|
| 517 |
+
"pos": [
|
| 518 |
+
-0.5,
|
| 519 |
+
0.35,
|
| 520 |
+
1.05
|
| 521 |
+
],
|
| 522 |
+
"quat": [
|
| 523 |
+
0.55623853,
|
| 524 |
+
0.29935253,
|
| 525 |
+
-0.37678665,
|
| 526 |
+
-0.6775092
|
| 527 |
+
],
|
| 528 |
+
"camera_attribs": {
|
| 529 |
+
"fovy": "60"
|
| 530 |
+
},
|
| 531 |
+
"parent_body": "mobilebase0_support"
|
| 532 |
+
},
|
| 533 |
+
"robot0_agentview_right": {
|
| 534 |
+
"pos": [
|
| 535 |
+
-0.5,
|
| 536 |
+
-0.35,
|
| 537 |
+
1.05
|
| 538 |
+
],
|
| 539 |
+
"quat": [
|
| 540 |
+
0.6775091886520386,
|
| 541 |
+
0.3767866790294647,
|
| 542 |
+
-0.2993525564670563,
|
| 543 |
+
-0.55623859167099
|
| 544 |
+
],
|
| 545 |
+
"camera_attribs": {
|
| 546 |
+
"fovy": "60"
|
| 547 |
+
},
|
| 548 |
+
"parent_body": "mobilebase0_support"
|
| 549 |
+
},
|
| 550 |
+
"robot0_frontview": {
|
| 551 |
+
"pos": [
|
| 552 |
+
-0.5,
|
| 553 |
+
0,
|
| 554 |
+
0.95
|
| 555 |
+
],
|
| 556 |
+
"quat": [
|
| 557 |
+
0.6088936924934387,
|
| 558 |
+
0.3814677894115448,
|
| 559 |
+
-0.3673907518386841,
|
| 560 |
+
-0.5905545353889465
|
| 561 |
+
],
|
| 562 |
+
"camera_attribs": {
|
| 563 |
+
"fovy": "60"
|
| 564 |
+
},
|
| 565 |
+
"parent_body": "mobilebase0_support"
|
| 566 |
+
},
|
| 567 |
+
"robot0_eye_in_hand": {
|
| 568 |
+
"pos": [
|
| 569 |
+
0.05,
|
| 570 |
+
0,
|
| 571 |
+
0
|
| 572 |
+
],
|
| 573 |
+
"quat": [
|
| 574 |
+
0,
|
| 575 |
+
0.707107,
|
| 576 |
+
0.707107,
|
| 577 |
+
0
|
| 578 |
+
],
|
| 579 |
+
"parent_body": "robot0_right_hand"
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"init_robot_base_pos": [
|
| 583 |
+
0.8237119578168617,
|
| 584 |
+
-2.7958747175356544,
|
| 585 |
+
0.0
|
| 586 |
+
],
|
| 587 |
+
"init_robot_base_ori": [
|
| 588 |
+
0.0,
|
| 589 |
+
0.0,
|
| 590 |
+
3.1415926193612504
|
| 591 |
+
]
|
| 592 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000010/ep_meta.json
ADDED
|
@@ -0,0 +1,608 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 33,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_3_right_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.94,
|
| 45 |
+
0.340555
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_3_right_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.94,
|
| 91 |
+
0.340555
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_2_right_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.06490043399999999,
|
| 107 |
+
0.16696110549999996,
|
| 108 |
+
0.05111708599999999
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"hotdog_bun",
|
| 125 |
+
"bread_food",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "hotdog_bun",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
0.9999999999999991,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
4.440892098500626e-16,
|
| 143 |
+
0.0,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_2_right_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.06629695839999997,
|
| 159 |
+
0.07979124959999995,
|
| 160 |
+
0.056484244799999965
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"cake",
|
| 177 |
+
"sweets",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "cake",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
0.9999999999999991,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
4.440892098500626e-16,
|
| 195 |
+
0.0,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_2_right_group_1",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "hingecabinet_3_right_group_1",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.08982056,
|
| 210 |
+
0.08982056,
|
| 211 |
+
0.19973605
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"soap_dispenser",
|
| 228 |
+
"cleaner"
|
| 229 |
+
],
|
| 230 |
+
"groups": [
|
| 231 |
+
"all"
|
| 232 |
+
],
|
| 233 |
+
"cat": "soap_dispenser",
|
| 234 |
+
"split": "train",
|
| 235 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser001/model.xml"
|
| 236 |
+
},
|
| 237 |
+
"reset_region": {
|
| 238 |
+
"size": [
|
| 239 |
+
0.9999999999999991,
|
| 240 |
+
0.65
|
| 241 |
+
],
|
| 242 |
+
"offset": [
|
| 243 |
+
4.440892098500626e-16,
|
| 244 |
+
0.0,
|
| 245 |
+
0.46
|
| 246 |
+
],
|
| 247 |
+
"name": "geom_0"
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"fixtures": {
|
| 252 |
+
"wall_main_1_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"wall_main_1_backing_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_left_1_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_left_1_backing_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_1_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_right_1_backing_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_main_2_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_main_2_backing_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_main_3.001_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"wall_main_3.001_backing_room": {
|
| 280 |
+
"cls": "Wall"
|
| 281 |
+
},
|
| 282 |
+
"floor_1_room": {
|
| 283 |
+
"cls": "Floor"
|
| 284 |
+
},
|
| 285 |
+
"floor_1_backing_room": {
|
| 286 |
+
"cls": "Floor"
|
| 287 |
+
},
|
| 288 |
+
"floor_2.001_room": {
|
| 289 |
+
"cls": "Floor"
|
| 290 |
+
},
|
| 291 |
+
"floor_2.001_backing_room": {
|
| 292 |
+
"cls": "Floor"
|
| 293 |
+
},
|
| 294 |
+
"stool_1_room": {
|
| 295 |
+
"cls": "Stool"
|
| 296 |
+
},
|
| 297 |
+
"stool_2_room": {
|
| 298 |
+
"cls": "Stool"
|
| 299 |
+
},
|
| 300 |
+
"stool_3_room": {
|
| 301 |
+
"cls": "Stool"
|
| 302 |
+
},
|
| 303 |
+
"stool_4_room": {
|
| 304 |
+
"cls": "Stool"
|
| 305 |
+
},
|
| 306 |
+
"counter_2_right_group_1": {
|
| 307 |
+
"cls": "Counter"
|
| 308 |
+
},
|
| 309 |
+
"hingecabinet_1_right_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"hingecabinet_2_right_group_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"hingecabinet_3_right_group_1": {
|
| 316 |
+
"cls": "HingeCabinet"
|
| 317 |
+
},
|
| 318 |
+
"stack_1_right_group_1_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_1_right_group_1_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_1_right_group_1_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_2_right_group_1_base": {
|
| 328 |
+
"cls": "Box"
|
| 329 |
+
},
|
| 330 |
+
"stack_2_right_group_1_1": {
|
| 331 |
+
"cls": "HingeCabinet"
|
| 332 |
+
},
|
| 333 |
+
"stack_2_right_group_1_2": {
|
| 334 |
+
"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
+
"stack_3_right_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_3_right_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"stack_3_right_group_1_2": {
|
| 343 |
+
"cls": "Drawer"
|
| 344 |
+
},
|
| 345 |
+
"counter_1_right_group_1": {
|
| 346 |
+
"cls": "Counter"
|
| 347 |
+
},
|
| 348 |
+
"fridgefrenchdoor_right_group_1": {
|
| 349 |
+
"cls": "FridgeFrenchDoor"
|
| 350 |
+
},
|
| 351 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 352 |
+
"cls": "HousingCabinet"
|
| 353 |
+
},
|
| 354 |
+
"hingecabinet_4_right_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"bottom_right_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"bottom_right_group_1_1": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"microwave_right_group_1": {
|
| 364 |
+
"cls": "Microwave"
|
| 365 |
+
},
|
| 366 |
+
"oven_cabinet_right_group_1": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"microwave_housing_right_group_1": {
|
| 370 |
+
"cls": "HousingCabinet"
|
| 371 |
+
},
|
| 372 |
+
"top_right_group_1": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"coffee_machine_right_group_1": {
|
| 376 |
+
"cls": "CoffeeMachine"
|
| 377 |
+
},
|
| 378 |
+
"toaster_right_group_1": {
|
| 379 |
+
"cls": "Toaster"
|
| 380 |
+
},
|
| 381 |
+
"hingecabinet_1_main_group_1": {
|
| 382 |
+
"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
+
"hingecabinet_2_main_group_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"singlecabinet_1_main_group_1": {
|
| 388 |
+
"cls": "SingleCabinet"
|
| 389 |
+
},
|
| 390 |
+
"singlecabinet_2_main_group_1": {
|
| 391 |
+
"cls": "SingleCabinet"
|
| 392 |
+
},
|
| 393 |
+
"counter_1_main_group_1": {
|
| 394 |
+
"cls": "Counter"
|
| 395 |
+
},
|
| 396 |
+
"counter_2_main_group_1": {
|
| 397 |
+
"cls": "Counter"
|
| 398 |
+
},
|
| 399 |
+
"widestove_main_group_1": {
|
| 400 |
+
"cls": "Stove"
|
| 401 |
+
},
|
| 402 |
+
"widestove_hood_main_group_1": {
|
| 403 |
+
"cls": "Hood"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_main_group_1_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_main_group_1_1": {
|
| 409 |
+
"cls": "HingeCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_main_group_1_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_4_main_group_1_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_4_main_group_1_1": {
|
| 418 |
+
"cls": "HingeCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_4_main_group_1_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_main_group_1_base": {
|
| 424 |
+
"cls": "Box"
|
| 425 |
+
},
|
| 426 |
+
"stack_2_main_group_1_1": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_2_main_group_1_2": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_2_main_group_1_3": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_3_main_group_1_base": {
|
| 436 |
+
"cls": "Box"
|
| 437 |
+
},
|
| 438 |
+
"stack_3_main_group_1_1": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_3_main_group_1_2": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_3_main_group_1_3": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"knife_block_main_group_1": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"paper_towel_main_group_1": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"toaster_oven_main_group_1": {
|
| 454 |
+
"cls": "ToasterOven"
|
| 455 |
+
},
|
| 456 |
+
"sink_island_group_1": {
|
| 457 |
+
"cls": "Sink"
|
| 458 |
+
},
|
| 459 |
+
"island_island_group_1": {
|
| 460 |
+
"cls": "Counter"
|
| 461 |
+
},
|
| 462 |
+
"stack_2_island_group_1_base": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"stack_2_island_group_1_1": {
|
| 466 |
+
"cls": "SingleCabinet"
|
| 467 |
+
},
|
| 468 |
+
"stack_2_island_group_1_2": {
|
| 469 |
+
"cls": "Drawer"
|
| 470 |
+
},
|
| 471 |
+
"stack_1_island_group_1_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_1_island_group_1_1": {
|
| 475 |
+
"cls": "HingeCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_1_island_group_1_2": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"stack_3_island_group_1_base": {
|
| 481 |
+
"cls": "Box"
|
| 482 |
+
},
|
| 483 |
+
"stack_3_island_group_1_1": {
|
| 484 |
+
"cls": "HingeCabinet"
|
| 485 |
+
},
|
| 486 |
+
"stack_3_island_group_1_2": {
|
| 487 |
+
"cls": "PanelCabinet"
|
| 488 |
+
},
|
| 489 |
+
"stack_4_island_group_1_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"stack_4_island_group_1_1": {
|
| 493 |
+
"cls": "SingleCabinet"
|
| 494 |
+
},
|
| 495 |
+
"stack_4_island_group_1_2": {
|
| 496 |
+
"cls": "Drawer"
|
| 497 |
+
},
|
| 498 |
+
"cube_1_island_group_1": {
|
| 499 |
+
"cls": "Box"
|
| 500 |
+
},
|
| 501 |
+
"cube_2_island_group_1": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"cube_3_island_group_1": {
|
| 505 |
+
"cls": "Box"
|
| 506 |
+
},
|
| 507 |
+
"dishwasher_1_island_group_1": {
|
| 508 |
+
"cls": "Dishwasher"
|
| 509 |
+
}
|
| 510 |
+
},
|
| 511 |
+
"gen_textures": {},
|
| 512 |
+
"lang": "Pick both bowls and place them on the counter. Then place the hotdog bun in one bowl and place the cake in the other bowl.",
|
| 513 |
+
"fixture_refs": {
|
| 514 |
+
"cab": "hingecabinet_3_right_group_1",
|
| 515 |
+
"counter": "counter_2_right_group_1"
|
| 516 |
+
},
|
| 517 |
+
"cam_configs": {
|
| 518 |
+
"robot0_agentview_center": {
|
| 519 |
+
"pos": [
|
| 520 |
+
-0.6,
|
| 521 |
+
0.0,
|
| 522 |
+
1.15
|
| 523 |
+
],
|
| 524 |
+
"quat": [
|
| 525 |
+
0.636945903301239,
|
| 526 |
+
0.3325185477733612,
|
| 527 |
+
-0.3199238181114197,
|
| 528 |
+
-0.6175596117973328
|
| 529 |
+
],
|
| 530 |
+
"parent_body": "mobilebase0_support"
|
| 531 |
+
},
|
| 532 |
+
"robot0_agentview_left": {
|
| 533 |
+
"pos": [
|
| 534 |
+
-0.5,
|
| 535 |
+
0.35,
|
| 536 |
+
1.05
|
| 537 |
+
],
|
| 538 |
+
"quat": [
|
| 539 |
+
0.55623853,
|
| 540 |
+
0.29935253,
|
| 541 |
+
-0.37678665,
|
| 542 |
+
-0.6775092
|
| 543 |
+
],
|
| 544 |
+
"camera_attribs": {
|
| 545 |
+
"fovy": "60"
|
| 546 |
+
},
|
| 547 |
+
"parent_body": "mobilebase0_support"
|
| 548 |
+
},
|
| 549 |
+
"robot0_agentview_right": {
|
| 550 |
+
"pos": [
|
| 551 |
+
-0.5,
|
| 552 |
+
-0.35,
|
| 553 |
+
1.05
|
| 554 |
+
],
|
| 555 |
+
"quat": [
|
| 556 |
+
0.6775091886520386,
|
| 557 |
+
0.3767866790294647,
|
| 558 |
+
-0.2993525564670563,
|
| 559 |
+
-0.55623859167099
|
| 560 |
+
],
|
| 561 |
+
"camera_attribs": {
|
| 562 |
+
"fovy": "60"
|
| 563 |
+
},
|
| 564 |
+
"parent_body": "mobilebase0_support"
|
| 565 |
+
},
|
| 566 |
+
"robot0_frontview": {
|
| 567 |
+
"pos": [
|
| 568 |
+
-0.5,
|
| 569 |
+
0,
|
| 570 |
+
0.95
|
| 571 |
+
],
|
| 572 |
+
"quat": [
|
| 573 |
+
0.6088936924934387,
|
| 574 |
+
0.3814677894115448,
|
| 575 |
+
-0.3673907518386841,
|
| 576 |
+
-0.5905545353889465
|
| 577 |
+
],
|
| 578 |
+
"camera_attribs": {
|
| 579 |
+
"fovy": "60"
|
| 580 |
+
},
|
| 581 |
+
"parent_body": "mobilebase0_support"
|
| 582 |
+
},
|
| 583 |
+
"robot0_eye_in_hand": {
|
| 584 |
+
"pos": [
|
| 585 |
+
0.05,
|
| 586 |
+
0,
|
| 587 |
+
0
|
| 588 |
+
],
|
| 589 |
+
"quat": [
|
| 590 |
+
0,
|
| 591 |
+
0.707107,
|
| 592 |
+
0.707107,
|
| 593 |
+
0
|
| 594 |
+
],
|
| 595 |
+
"parent_body": "robot0_right_hand"
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"init_robot_base_pos": [
|
| 599 |
+
5.890376076458377,
|
| 600 |
+
-2.4021516933058646,
|
| 601 |
+
0.0
|
| 602 |
+
],
|
| 603 |
+
"init_robot_base_ori": [
|
| 604 |
+
0.0,
|
| 605 |
+
0.0,
|
| 606 |
+
0.00030199704781619374
|
| 607 |
+
]
|
| 608 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000012/ep_meta.json
ADDED
|
@@ -0,0 +1,693 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 29,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_6_main_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.47000000000000003
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
1.44,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.29333333333333333,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_6_main_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.47000000000000003
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
1.44,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.29333333333333333,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_6_main_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.05855431554000001,
|
| 107 |
+
0.06300000000000001,
|
| 108 |
+
0.06098112153000001
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"apple",
|
| 125 |
+
"fruit",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"food_set1",
|
| 129 |
+
"group1"
|
| 130 |
+
],
|
| 131 |
+
"groups": [
|
| 132 |
+
"food"
|
| 133 |
+
],
|
| 134 |
+
"cat": "apple",
|
| 135 |
+
"split": "train",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml"
|
| 137 |
+
},
|
| 138 |
+
"reset_region": {
|
| 139 |
+
"size": [
|
| 140 |
+
1.6999999999999993,
|
| 141 |
+
0.65
|
| 142 |
+
],
|
| 143 |
+
"offset": [
|
| 144 |
+
0.5500000000000003,
|
| 145 |
+
0.0,
|
| 146 |
+
0.46
|
| 147 |
+
],
|
| 148 |
+
"name": "geom_0"
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"name": "food2",
|
| 153 |
+
"obj_groups": "food",
|
| 154 |
+
"graspable": true,
|
| 155 |
+
"placement": {
|
| 156 |
+
"fixture": "counter_1_main_group",
|
| 157 |
+
"sample_region_kwargs": {
|
| 158 |
+
"ref": "cab_6_main_group",
|
| 159 |
+
"min_size": [
|
| 160 |
+
0.06715230685627568,
|
| 161 |
+
0.09280654851251298,
|
| 162 |
+
0.07102568635516467
|
| 163 |
+
]
|
| 164 |
+
},
|
| 165 |
+
"size": [
|
| 166 |
+
0.6,
|
| 167 |
+
0.3
|
| 168 |
+
],
|
| 169 |
+
"pos": [
|
| 170 |
+
"ref",
|
| 171 |
+
-1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"type": "object",
|
| 175 |
+
"info": {
|
| 176 |
+
"groups_containing_sampled_obj": [
|
| 177 |
+
"all",
|
| 178 |
+
"broccoli",
|
| 179 |
+
"vegetable",
|
| 180 |
+
"food",
|
| 181 |
+
"in_container",
|
| 182 |
+
"oven_ready"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"food"
|
| 186 |
+
],
|
| 187 |
+
"cat": "broccoli",
|
| 188 |
+
"split": "train",
|
| 189 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml"
|
| 190 |
+
},
|
| 191 |
+
"reset_region": {
|
| 192 |
+
"size": [
|
| 193 |
+
1.6999999999999993,
|
| 194 |
+
0.65
|
| 195 |
+
],
|
| 196 |
+
"offset": [
|
| 197 |
+
0.5500000000000003,
|
| 198 |
+
0.0,
|
| 199 |
+
0.46
|
| 200 |
+
],
|
| 201 |
+
"name": "geom_0"
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"name": "distr_counter",
|
| 206 |
+
"obj_groups": "all",
|
| 207 |
+
"placement": {
|
| 208 |
+
"fixture": "counter_1_main_group",
|
| 209 |
+
"sample_region_kwargs": {
|
| 210 |
+
"ref": "cab_6_main_group",
|
| 211 |
+
"min_size": [
|
| 212 |
+
0.05855431554000001,
|
| 213 |
+
0.06300000000000001,
|
| 214 |
+
0.06098112153000001
|
| 215 |
+
]
|
| 216 |
+
},
|
| 217 |
+
"size": [
|
| 218 |
+
0.5,
|
| 219 |
+
0.2
|
| 220 |
+
],
|
| 221 |
+
"pos": [
|
| 222 |
+
"ref",
|
| 223 |
+
1.0
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
"type": "object",
|
| 227 |
+
"info": {
|
| 228 |
+
"groups_containing_sampled_obj": [
|
| 229 |
+
"all",
|
| 230 |
+
"apple",
|
| 231 |
+
"fruit",
|
| 232 |
+
"food",
|
| 233 |
+
"in_container",
|
| 234 |
+
"food_set1",
|
| 235 |
+
"group1"
|
| 236 |
+
],
|
| 237 |
+
"groups": [
|
| 238 |
+
"all"
|
| 239 |
+
],
|
| 240 |
+
"cat": "apple",
|
| 241 |
+
"split": "train",
|
| 242 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml"
|
| 243 |
+
},
|
| 244 |
+
"reset_region": {
|
| 245 |
+
"size": [
|
| 246 |
+
1.6999999999999993,
|
| 247 |
+
0.65
|
| 248 |
+
],
|
| 249 |
+
"offset": [
|
| 250 |
+
0.5500000000000003,
|
| 251 |
+
0.0,
|
| 252 |
+
0.46
|
| 253 |
+
],
|
| 254 |
+
"name": "geom_0"
|
| 255 |
+
}
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"fixtures": {
|
| 259 |
+
"wall_main_1_room": {
|
| 260 |
+
"cls": "Wall"
|
| 261 |
+
},
|
| 262 |
+
"wall_main_1_backing_room": {
|
| 263 |
+
"cls": "Wall"
|
| 264 |
+
},
|
| 265 |
+
"wall_left_4_room": {
|
| 266 |
+
"cls": "Wall"
|
| 267 |
+
},
|
| 268 |
+
"wall_left_4_backing_room": {
|
| 269 |
+
"cls": "Wall"
|
| 270 |
+
},
|
| 271 |
+
"wall_right_1_room": {
|
| 272 |
+
"cls": "Wall"
|
| 273 |
+
},
|
| 274 |
+
"wall_right_1_backing_room": {
|
| 275 |
+
"cls": "Wall"
|
| 276 |
+
},
|
| 277 |
+
"wall_left_1_room": {
|
| 278 |
+
"cls": "Wall"
|
| 279 |
+
},
|
| 280 |
+
"wall_left_1_backing_room": {
|
| 281 |
+
"cls": "Wall"
|
| 282 |
+
},
|
| 283 |
+
"wall_left_3_room": {
|
| 284 |
+
"cls": "Wall"
|
| 285 |
+
},
|
| 286 |
+
"wall_left_3_backing_room": {
|
| 287 |
+
"cls": "Wall"
|
| 288 |
+
},
|
| 289 |
+
"wall_left_2_room": {
|
| 290 |
+
"cls": "Wall"
|
| 291 |
+
},
|
| 292 |
+
"wall_left_2_backing_room": {
|
| 293 |
+
"cls": "Wall"
|
| 294 |
+
},
|
| 295 |
+
"wall_main_2_room": {
|
| 296 |
+
"cls": "Wall"
|
| 297 |
+
},
|
| 298 |
+
"wall_main_2_backing_room": {
|
| 299 |
+
"cls": "Wall"
|
| 300 |
+
},
|
| 301 |
+
"wall_front_1_room": {
|
| 302 |
+
"cls": "Wall"
|
| 303 |
+
},
|
| 304 |
+
"wall_front_1_backing_room": {
|
| 305 |
+
"cls": "Wall"
|
| 306 |
+
},
|
| 307 |
+
"floor_1_room": {
|
| 308 |
+
"cls": "Floor"
|
| 309 |
+
},
|
| 310 |
+
"floor_1_backing_room": {
|
| 311 |
+
"cls": "Floor"
|
| 312 |
+
},
|
| 313 |
+
"floor_2_room": {
|
| 314 |
+
"cls": "Floor"
|
| 315 |
+
},
|
| 316 |
+
"floor_2_backing_room": {
|
| 317 |
+
"cls": "Floor"
|
| 318 |
+
},
|
| 319 |
+
"light_switch_1_room": {
|
| 320 |
+
"cls": "WallAccessory"
|
| 321 |
+
},
|
| 322 |
+
"wall_accessory_1_room": {
|
| 323 |
+
"cls": "WallAccessory"
|
| 324 |
+
},
|
| 325 |
+
"light_switch_2_room": {
|
| 326 |
+
"cls": "WallAccessory"
|
| 327 |
+
},
|
| 328 |
+
"wall_accessory_2_room": {
|
| 329 |
+
"cls": "WallAccessory"
|
| 330 |
+
},
|
| 331 |
+
"stool_1_room": {
|
| 332 |
+
"cls": "Stool"
|
| 333 |
+
},
|
| 334 |
+
"stool_2_room": {
|
| 335 |
+
"cls": "Stool"
|
| 336 |
+
},
|
| 337 |
+
"stool_3_room": {
|
| 338 |
+
"cls": "Stool"
|
| 339 |
+
},
|
| 340 |
+
"stool_4_room": {
|
| 341 |
+
"cls": "Stool"
|
| 342 |
+
},
|
| 343 |
+
"bottom_main_group_base": {
|
| 344 |
+
"cls": "Box"
|
| 345 |
+
},
|
| 346 |
+
"bottom_main_group_1": {
|
| 347 |
+
"cls": "Drawer"
|
| 348 |
+
},
|
| 349 |
+
"oven_main_group": {
|
| 350 |
+
"cls": "Oven"
|
| 351 |
+
},
|
| 352 |
+
"oven_housing_main_group": {
|
| 353 |
+
"cls": "HousingCabinet"
|
| 354 |
+
},
|
| 355 |
+
"microwave_main_group": {
|
| 356 |
+
"cls": "Microwave"
|
| 357 |
+
},
|
| 358 |
+
"microwave_housing_main_group": {
|
| 359 |
+
"cls": "HousingCabinet"
|
| 360 |
+
},
|
| 361 |
+
"middle_main_group": {
|
| 362 |
+
"cls": "HingeCabinet"
|
| 363 |
+
},
|
| 364 |
+
"top_main_group": {
|
| 365 |
+
"cls": "HingeCabinet"
|
| 366 |
+
},
|
| 367 |
+
"fridge_main_group": {
|
| 368 |
+
"cls": "FridgeSideBySide"
|
| 369 |
+
},
|
| 370 |
+
"fridge_housing_main_group": {
|
| 371 |
+
"cls": "HousingCabinet"
|
| 372 |
+
},
|
| 373 |
+
"counter_1_main_group": {
|
| 374 |
+
"cls": "Counter"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_main_group_base": {
|
| 377 |
+
"cls": "Box"
|
| 378 |
+
},
|
| 379 |
+
"stack_1_main_group_1": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
+
},
|
| 382 |
+
"stack_1_main_group_2": {
|
| 383 |
+
"cls": "Drawer"
|
| 384 |
+
},
|
| 385 |
+
"stack_1_main_group_3": {
|
| 386 |
+
"cls": "Drawer"
|
| 387 |
+
},
|
| 388 |
+
"stack_2_main_group_base": {
|
| 389 |
+
"cls": "Box"
|
| 390 |
+
},
|
| 391 |
+
"stack_2_main_group_1": {
|
| 392 |
+
"cls": "Drawer"
|
| 393 |
+
},
|
| 394 |
+
"stack_2_main_group_2": {
|
| 395 |
+
"cls": "Drawer"
|
| 396 |
+
},
|
| 397 |
+
"stack_2_main_group_3": {
|
| 398 |
+
"cls": "Drawer"
|
| 399 |
+
},
|
| 400 |
+
"stack_3_main_group_base": {
|
| 401 |
+
"cls": "Box"
|
| 402 |
+
},
|
| 403 |
+
"stack_3_main_group_1": {
|
| 404 |
+
"cls": "Drawer"
|
| 405 |
+
},
|
| 406 |
+
"stack_3_main_group_2": {
|
| 407 |
+
"cls": "Drawer"
|
| 408 |
+
},
|
| 409 |
+
"stack_3_main_group_3": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
+
},
|
| 412 |
+
"dishwasher_main_group": {
|
| 413 |
+
"cls": "Dishwasher"
|
| 414 |
+
},
|
| 415 |
+
"panel_stack_main_group_base": {
|
| 416 |
+
"cls": "Box"
|
| 417 |
+
},
|
| 418 |
+
"panel_stack_main_group_1": {
|
| 419 |
+
"cls": "PanelCabinet"
|
| 420 |
+
},
|
| 421 |
+
"cab_1_main_group": {
|
| 422 |
+
"cls": "HingeCabinet"
|
| 423 |
+
},
|
| 424 |
+
"cab_2_main_group": {
|
| 425 |
+
"cls": "HingeCabinet"
|
| 426 |
+
},
|
| 427 |
+
"cab_3_main_group": {
|
| 428 |
+
"cls": "HingeCabinet"
|
| 429 |
+
},
|
| 430 |
+
"cab_4_main_group": {
|
| 431 |
+
"cls": "HingeCabinet"
|
| 432 |
+
},
|
| 433 |
+
"cab_5_main_group": {
|
| 434 |
+
"cls": "HingeCabinet"
|
| 435 |
+
},
|
| 436 |
+
"cab_6_main_group": {
|
| 437 |
+
"cls": "HingeCabinet"
|
| 438 |
+
},
|
| 439 |
+
"toaster_oven_main_group": {
|
| 440 |
+
"cls": "ToasterOven"
|
| 441 |
+
},
|
| 442 |
+
"paper_towel_main_group": {
|
| 443 |
+
"cls": "Accessory"
|
| 444 |
+
},
|
| 445 |
+
"stovetop_left_group": {
|
| 446 |
+
"cls": "Stovetop"
|
| 447 |
+
},
|
| 448 |
+
"counter_1_left_group": {
|
| 449 |
+
"cls": "Counter"
|
| 450 |
+
},
|
| 451 |
+
"stack_1_left_group_base": {
|
| 452 |
+
"cls": "Box"
|
| 453 |
+
},
|
| 454 |
+
"stack_1_left_group_1": {
|
| 455 |
+
"cls": "Drawer"
|
| 456 |
+
},
|
| 457 |
+
"stack_1_left_group_2": {
|
| 458 |
+
"cls": "Drawer"
|
| 459 |
+
},
|
| 460 |
+
"stack_1_left_group_3": {
|
| 461 |
+
"cls": "Drawer"
|
| 462 |
+
},
|
| 463 |
+
"stack_2_left_group_base": {
|
| 464 |
+
"cls": "Box"
|
| 465 |
+
},
|
| 466 |
+
"stack_2_left_group_1": {
|
| 467 |
+
"cls": "Drawer"
|
| 468 |
+
},
|
| 469 |
+
"stack_2_left_group_2": {
|
| 470 |
+
"cls": "Drawer"
|
| 471 |
+
},
|
| 472 |
+
"stack_2_left_group_3": {
|
| 473 |
+
"cls": "Drawer"
|
| 474 |
+
},
|
| 475 |
+
"stack_3_left_group_base": {
|
| 476 |
+
"cls": "Box"
|
| 477 |
+
},
|
| 478 |
+
"stack_3_left_group_1": {
|
| 479 |
+
"cls": "Drawer"
|
| 480 |
+
},
|
| 481 |
+
"stack_3_left_group_2": {
|
| 482 |
+
"cls": "Drawer"
|
| 483 |
+
},
|
| 484 |
+
"stack_3_left_group_3": {
|
| 485 |
+
"cls": "PanelCabinet"
|
| 486 |
+
},
|
| 487 |
+
"stack_4_left_group_base": {
|
| 488 |
+
"cls": "Box"
|
| 489 |
+
},
|
| 490 |
+
"stack_4_left_group_1": {
|
| 491 |
+
"cls": "Drawer"
|
| 492 |
+
},
|
| 493 |
+
"stack_4_left_group_2": {
|
| 494 |
+
"cls": "Drawer"
|
| 495 |
+
},
|
| 496 |
+
"stack_4_left_group_3": {
|
| 497 |
+
"cls": "Drawer"
|
| 498 |
+
},
|
| 499 |
+
"stack_5_left_group_base": {
|
| 500 |
+
"cls": "Box"
|
| 501 |
+
},
|
| 502 |
+
"stack_5_left_group_1": {
|
| 503 |
+
"cls": "Drawer"
|
| 504 |
+
},
|
| 505 |
+
"stack_5_left_group_2": {
|
| 506 |
+
"cls": "Drawer"
|
| 507 |
+
},
|
| 508 |
+
"stack_5_left_group_3": {
|
| 509 |
+
"cls": "Drawer"
|
| 510 |
+
},
|
| 511 |
+
"hood_left_group": {
|
| 512 |
+
"cls": "Hood"
|
| 513 |
+
},
|
| 514 |
+
"cab_1_left_group": {
|
| 515 |
+
"cls": "HingeCabinet"
|
| 516 |
+
},
|
| 517 |
+
"cab_2_left_group": {
|
| 518 |
+
"cls": "HingeCabinet"
|
| 519 |
+
},
|
| 520 |
+
"cab_3_left_group": {
|
| 521 |
+
"cls": "HingeCabinet"
|
| 522 |
+
},
|
| 523 |
+
"cab_4_left_group": {
|
| 524 |
+
"cls": "HingeCabinet"
|
| 525 |
+
},
|
| 526 |
+
"coffee_machine_left_group": {
|
| 527 |
+
"cls": "CoffeeMachine"
|
| 528 |
+
},
|
| 529 |
+
"toaster_left_group": {
|
| 530 |
+
"cls": "Toaster"
|
| 531 |
+
},
|
| 532 |
+
"sink_island_group": {
|
| 533 |
+
"cls": "Sink"
|
| 534 |
+
},
|
| 535 |
+
"island_island_group": {
|
| 536 |
+
"cls": "Counter"
|
| 537 |
+
},
|
| 538 |
+
"panel_box_1_island_group_base": {
|
| 539 |
+
"cls": "Box"
|
| 540 |
+
},
|
| 541 |
+
"panel_box_1_island_group_1": {
|
| 542 |
+
"cls": "PanelCabinet"
|
| 543 |
+
},
|
| 544 |
+
"stack_1_island_group_base": {
|
| 545 |
+
"cls": "Box"
|
| 546 |
+
},
|
| 547 |
+
"stack_1_island_group_1": {
|
| 548 |
+
"cls": "Drawer"
|
| 549 |
+
},
|
| 550 |
+
"stack_1_island_group_2": {
|
| 551 |
+
"cls": "Drawer"
|
| 552 |
+
},
|
| 553 |
+
"stack_1_island_group_3": {
|
| 554 |
+
"cls": "Drawer"
|
| 555 |
+
},
|
| 556 |
+
"stack_2_island_group_base": {
|
| 557 |
+
"cls": "Box"
|
| 558 |
+
},
|
| 559 |
+
"stack_2_island_group_1": {
|
| 560 |
+
"cls": "SingleCabinet"
|
| 561 |
+
},
|
| 562 |
+
"stack_3_island_group_base": {
|
| 563 |
+
"cls": "Box"
|
| 564 |
+
},
|
| 565 |
+
"stack_3_island_group_1": {
|
| 566 |
+
"cls": "HingeCabinet"
|
| 567 |
+
},
|
| 568 |
+
"stack_4_island_group_base": {
|
| 569 |
+
"cls": "Box"
|
| 570 |
+
},
|
| 571 |
+
"stack_4_island_group_1": {
|
| 572 |
+
"cls": "SingleCabinet"
|
| 573 |
+
},
|
| 574 |
+
"stack_5_island_group_base": {
|
| 575 |
+
"cls": "Box"
|
| 576 |
+
},
|
| 577 |
+
"stack_5_island_group_1": {
|
| 578 |
+
"cls": "Drawer"
|
| 579 |
+
},
|
| 580 |
+
"stack_5_island_group_2": {
|
| 581 |
+
"cls": "Drawer"
|
| 582 |
+
},
|
| 583 |
+
"stack_5_island_group_3": {
|
| 584 |
+
"cls": "Drawer"
|
| 585 |
+
},
|
| 586 |
+
"panel_cab_2_island_group_base": {
|
| 587 |
+
"cls": "Box"
|
| 588 |
+
},
|
| 589 |
+
"panel_cab_2_island_group_1": {
|
| 590 |
+
"cls": "PanelCabinet"
|
| 591 |
+
},
|
| 592 |
+
"box_island_group": {
|
| 593 |
+
"cls": "Box"
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"gen_textures": {},
|
| 597 |
+
"lang": "Pick both bowls and place them on the counter. Then place the apple in one bowl and place the broccoli in the other bowl.",
|
| 598 |
+
"fixture_refs": {
|
| 599 |
+
"cab": "cab_6_main_group",
|
| 600 |
+
"counter": "counter_1_main_group"
|
| 601 |
+
},
|
| 602 |
+
"cam_configs": {
|
| 603 |
+
"robot0_agentview_center": {
|
| 604 |
+
"pos": [
|
| 605 |
+
-0.6,
|
| 606 |
+
0.0,
|
| 607 |
+
1.15
|
| 608 |
+
],
|
| 609 |
+
"quat": [
|
| 610 |
+
0.636945903301239,
|
| 611 |
+
0.3325185477733612,
|
| 612 |
+
-0.3199238181114197,
|
| 613 |
+
-0.6175596117973328
|
| 614 |
+
],
|
| 615 |
+
"parent_body": "mobilebase0_support"
|
| 616 |
+
},
|
| 617 |
+
"robot0_agentview_left": {
|
| 618 |
+
"pos": [
|
| 619 |
+
-0.5,
|
| 620 |
+
0.35,
|
| 621 |
+
1.05
|
| 622 |
+
],
|
| 623 |
+
"quat": [
|
| 624 |
+
0.55623853,
|
| 625 |
+
0.29935253,
|
| 626 |
+
-0.37678665,
|
| 627 |
+
-0.6775092
|
| 628 |
+
],
|
| 629 |
+
"camera_attribs": {
|
| 630 |
+
"fovy": "60"
|
| 631 |
+
},
|
| 632 |
+
"parent_body": "mobilebase0_support"
|
| 633 |
+
},
|
| 634 |
+
"robot0_agentview_right": {
|
| 635 |
+
"pos": [
|
| 636 |
+
-0.5,
|
| 637 |
+
-0.35,
|
| 638 |
+
1.05
|
| 639 |
+
],
|
| 640 |
+
"quat": [
|
| 641 |
+
0.6775091886520386,
|
| 642 |
+
0.3767866790294647,
|
| 643 |
+
-0.2993525564670563,
|
| 644 |
+
-0.55623859167099
|
| 645 |
+
],
|
| 646 |
+
"camera_attribs": {
|
| 647 |
+
"fovy": "60"
|
| 648 |
+
},
|
| 649 |
+
"parent_body": "mobilebase0_support"
|
| 650 |
+
},
|
| 651 |
+
"robot0_frontview": {
|
| 652 |
+
"pos": [
|
| 653 |
+
-0.5,
|
| 654 |
+
0,
|
| 655 |
+
0.95
|
| 656 |
+
],
|
| 657 |
+
"quat": [
|
| 658 |
+
0.6088936924934387,
|
| 659 |
+
0.3814677894115448,
|
| 660 |
+
-0.3673907518386841,
|
| 661 |
+
-0.5905545353889465
|
| 662 |
+
],
|
| 663 |
+
"camera_attribs": {
|
| 664 |
+
"fovy": "60"
|
| 665 |
+
},
|
| 666 |
+
"parent_body": "mobilebase0_support"
|
| 667 |
+
},
|
| 668 |
+
"robot0_eye_in_hand": {
|
| 669 |
+
"pos": [
|
| 670 |
+
0.05,
|
| 671 |
+
0,
|
| 672 |
+
0
|
| 673 |
+
],
|
| 674 |
+
"quat": [
|
| 675 |
+
0,
|
| 676 |
+
0.707107,
|
| 677 |
+
0.707107,
|
| 678 |
+
0
|
| 679 |
+
],
|
| 680 |
+
"parent_body": "robot0_right_hand"
|
| 681 |
+
}
|
| 682 |
+
},
|
| 683 |
+
"init_robot_base_pos": [
|
| 684 |
+
3.711435931078147,
|
| 685 |
+
-0.8465281892018304,
|
| 686 |
+
0.0
|
| 687 |
+
],
|
| 688 |
+
"init_robot_base_ori": [
|
| 689 |
+
0.0,
|
| 690 |
+
0.0,
|
| 691 |
+
1.5707963267948966
|
| 692 |
+
]
|
| 693 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000013/ep_meta.json
ADDED
|
@@ -0,0 +1,623 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 18,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_left_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
1.04,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_left_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
1.04,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_left_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_left_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.12204,
|
| 107 |
+
0.14225279999999998,
|
| 108 |
+
0.053881464
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"chicken_drumstick",
|
| 125 |
+
"meat",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"oven_ready"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"food"
|
| 132 |
+
],
|
| 133 |
+
"cat": "chicken_drumstick",
|
| 134 |
+
"split": "train",
|
| 135 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml"
|
| 136 |
+
},
|
| 137 |
+
"reset_region": {
|
| 138 |
+
"size": [
|
| 139 |
+
1.1999999999999997,
|
| 140 |
+
0.65
|
| 141 |
+
],
|
| 142 |
+
"offset": [
|
| 143 |
+
-1.2000000000000002,
|
| 144 |
+
-3.469446951953614e-17,
|
| 145 |
+
0.46
|
| 146 |
+
],
|
| 147 |
+
"name": "geom_0"
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"name": "food2",
|
| 152 |
+
"obj_groups": "food",
|
| 153 |
+
"graspable": true,
|
| 154 |
+
"placement": {
|
| 155 |
+
"fixture": "counter_1_left_group",
|
| 156 |
+
"sample_region_kwargs": {
|
| 157 |
+
"ref": "cab_1_left_group",
|
| 158 |
+
"min_size": [
|
| 159 |
+
0.06408269139999999,
|
| 160 |
+
0.06382025779999997,
|
| 161 |
+
0.06412384874999996
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"size": [
|
| 165 |
+
0.6,
|
| 166 |
+
0.3
|
| 167 |
+
],
|
| 168 |
+
"pos": [
|
| 169 |
+
"ref",
|
| 170 |
+
-1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"type": "object",
|
| 174 |
+
"info": {
|
| 175 |
+
"groups_containing_sampled_obj": [
|
| 176 |
+
"all",
|
| 177 |
+
"peach",
|
| 178 |
+
"fruit",
|
| 179 |
+
"food",
|
| 180 |
+
"in_container"
|
| 181 |
+
],
|
| 182 |
+
"groups": [
|
| 183 |
+
"food"
|
| 184 |
+
],
|
| 185 |
+
"cat": "peach",
|
| 186 |
+
"split": "train",
|
| 187 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
|
| 188 |
+
},
|
| 189 |
+
"reset_region": {
|
| 190 |
+
"size": [
|
| 191 |
+
1.1999999999999997,
|
| 192 |
+
0.65
|
| 193 |
+
],
|
| 194 |
+
"offset": [
|
| 195 |
+
-1.2000000000000002,
|
| 196 |
+
-3.469446951953614e-17,
|
| 197 |
+
0.46
|
| 198 |
+
],
|
| 199 |
+
"name": "geom_0"
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"name": "distr_counter",
|
| 204 |
+
"obj_groups": "all",
|
| 205 |
+
"placement": {
|
| 206 |
+
"fixture": "counter_1_left_group",
|
| 207 |
+
"sample_region_kwargs": {
|
| 208 |
+
"ref": "cab_1_left_group",
|
| 209 |
+
"min_size": [
|
| 210 |
+
0.12239322999999999,
|
| 211 |
+
0.12596432000000002,
|
| 212 |
+
0.0237349
|
| 213 |
+
]
|
| 214 |
+
},
|
| 215 |
+
"size": [
|
| 216 |
+
0.5,
|
| 217 |
+
0.2
|
| 218 |
+
],
|
| 219 |
+
"pos": [
|
| 220 |
+
"ref",
|
| 221 |
+
1.0
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"type": "object",
|
| 225 |
+
"info": {
|
| 226 |
+
"groups_containing_sampled_obj": [
|
| 227 |
+
"all",
|
| 228 |
+
"sandwich_bread",
|
| 229 |
+
"bread_food",
|
| 230 |
+
"food",
|
| 231 |
+
"in_container"
|
| 232 |
+
],
|
| 233 |
+
"groups": [
|
| 234 |
+
"all"
|
| 235 |
+
],
|
| 236 |
+
"cat": "sandwich_bread",
|
| 237 |
+
"split": "train",
|
| 238 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model.xml"
|
| 239 |
+
},
|
| 240 |
+
"reset_region": {
|
| 241 |
+
"size": [
|
| 242 |
+
1.1999999999999997,
|
| 243 |
+
0.65
|
| 244 |
+
],
|
| 245 |
+
"offset": [
|
| 246 |
+
-1.2000000000000002,
|
| 247 |
+
-3.469446951953614e-17,
|
| 248 |
+
0.46
|
| 249 |
+
],
|
| 250 |
+
"name": "geom_0"
|
| 251 |
+
}
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"fixtures": {
|
| 255 |
+
"wall_main_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_main_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_right_1_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_1_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_left_1_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_left_1_backing_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_left_3_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_left_3_backing_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"wall_left_2_room": {
|
| 280 |
+
"cls": "Wall"
|
| 281 |
+
},
|
| 282 |
+
"wall_left_2_backing_room": {
|
| 283 |
+
"cls": "Wall"
|
| 284 |
+
},
|
| 285 |
+
"floor_1_room": {
|
| 286 |
+
"cls": "Floor"
|
| 287 |
+
},
|
| 288 |
+
"floor_1_backing_room": {
|
| 289 |
+
"cls": "Floor"
|
| 290 |
+
},
|
| 291 |
+
"light_switch_1_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"light_switch_2_room": {
|
| 295 |
+
"cls": "WallAccessory"
|
| 296 |
+
},
|
| 297 |
+
"light_switch_3_room": {
|
| 298 |
+
"cls": "WallAccessory"
|
| 299 |
+
},
|
| 300 |
+
"light_switch_4_room": {
|
| 301 |
+
"cls": "WallAccessory"
|
| 302 |
+
},
|
| 303 |
+
"wall_accessory_1_room": {
|
| 304 |
+
"cls": "WallAccessory"
|
| 305 |
+
},
|
| 306 |
+
"light_switch_5_room": {
|
| 307 |
+
"cls": "WallAccessory"
|
| 308 |
+
},
|
| 309 |
+
"light_switch_6_room": {
|
| 310 |
+
"cls": "WallAccessory"
|
| 311 |
+
},
|
| 312 |
+
"light_switch_7_room": {
|
| 313 |
+
"cls": "WallAccessory"
|
| 314 |
+
},
|
| 315 |
+
"window_group_1_room": {
|
| 316 |
+
"cls": "Window"
|
| 317 |
+
},
|
| 318 |
+
"window_group_2_room": {
|
| 319 |
+
"cls": "Window"
|
| 320 |
+
},
|
| 321 |
+
"bottom_main_group_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"bottom_main_group_1": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"oven_main_group": {
|
| 328 |
+
"cls": "Oven"
|
| 329 |
+
},
|
| 330 |
+
"oven_housing_main_group": {
|
| 331 |
+
"cls": "HousingCabinet"
|
| 332 |
+
},
|
| 333 |
+
"microwave_main_group": {
|
| 334 |
+
"cls": "Microwave"
|
| 335 |
+
},
|
| 336 |
+
"microwave_housing_main_group": {
|
| 337 |
+
"cls": "HousingCabinet"
|
| 338 |
+
},
|
| 339 |
+
"top_main_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"fridge_main_group": {
|
| 343 |
+
"cls": "FridgeSideBySide"
|
| 344 |
+
},
|
| 345 |
+
"fridge_housing_main_group": {
|
| 346 |
+
"cls": "HousingCabinet"
|
| 347 |
+
},
|
| 348 |
+
"counter_1_main_group": {
|
| 349 |
+
"cls": "Counter"
|
| 350 |
+
},
|
| 351 |
+
"counter_corner_main_group": {
|
| 352 |
+
"cls": "Counter"
|
| 353 |
+
},
|
| 354 |
+
"stack_1_main_group_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_main_group_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"box_1_main_group": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"cab_1_main_group": {
|
| 364 |
+
"cls": "HingeCabinet"
|
| 365 |
+
},
|
| 366 |
+
"cab_2_main_group": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"toaster_oven_main_group": {
|
| 370 |
+
"cls": "ToasterOven"
|
| 371 |
+
},
|
| 372 |
+
"plant_main_group": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
+
"stovetop_left_group": {
|
| 376 |
+
"cls": "Stovetop"
|
| 377 |
+
},
|
| 378 |
+
"counter_1_left_group": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_left_group_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_left_group_1": {
|
| 385 |
+
"cls": "SingleCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_left_group_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_left_group_1": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_left_group_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_left_group_3": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_2_left_group_4": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_2_left_group_5": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_2_left_group_6": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_left_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_3_left_group_1": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_3_left_group_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_3_left_group_3": {
|
| 418 |
+
"cls": "PanelCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_4_left_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_4_left_group_1": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"stack_4_left_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_4_left_group_3": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_4_left_group_4": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_4_left_group_5": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_4_left_group_6": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_5_left_group_base": {
|
| 442 |
+
"cls": "Box"
|
| 443 |
+
},
|
| 444 |
+
"stack_5_left_group_1": {
|
| 445 |
+
"cls": "SingleCabinet"
|
| 446 |
+
},
|
| 447 |
+
"hood_left_group": {
|
| 448 |
+
"cls": "Hood"
|
| 449 |
+
},
|
| 450 |
+
"cab_1_left_group": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"cab_2_left_group": {
|
| 454 |
+
"cls": "HingeCabinet"
|
| 455 |
+
},
|
| 456 |
+
"paper_towel_left_group": {
|
| 457 |
+
"cls": "Accessory"
|
| 458 |
+
},
|
| 459 |
+
"coffee_machine_left_group": {
|
| 460 |
+
"cls": "CoffeeMachine"
|
| 461 |
+
},
|
| 462 |
+
"sink_1_right_group": {
|
| 463 |
+
"cls": "Sink"
|
| 464 |
+
},
|
| 465 |
+
"counter_1_right_group": {
|
| 466 |
+
"cls": "Counter"
|
| 467 |
+
},
|
| 468 |
+
"box_1_right_group": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_1_right_group_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_1_right_group_1": {
|
| 475 |
+
"cls": "SingleCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_2_right_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_2_right_group_1": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"stack_2_right_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_2_right_group_3": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_right_group_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_right_group_1": {
|
| 493 |
+
"cls": "SingleCabinet"
|
| 494 |
+
},
|
| 495 |
+
"stack_4_right_group_base": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"stack_4_right_group_1": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"stack_5_right_group_base": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"stack_5_right_group_1": {
|
| 505 |
+
"cls": "HingeCabinet"
|
| 506 |
+
},
|
| 507 |
+
"dishwasher_1_right_group": {
|
| 508 |
+
"cls": "Dishwasher"
|
| 509 |
+
},
|
| 510 |
+
"panel_stack_right_group_base": {
|
| 511 |
+
"cls": "Box"
|
| 512 |
+
},
|
| 513 |
+
"panel_stack_right_group_1": {
|
| 514 |
+
"cls": "PanelCabinet"
|
| 515 |
+
},
|
| 516 |
+
"wall_stack_right_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"wall_stack_right_group_1": {
|
| 520 |
+
"cls": "HingeCabinet"
|
| 521 |
+
},
|
| 522 |
+
"toaster_right_group": {
|
| 523 |
+
"cls": "Toaster"
|
| 524 |
+
}
|
| 525 |
+
},
|
| 526 |
+
"gen_textures": {},
|
| 527 |
+
"lang": "Pick both bowls and place them on the counter. Then place the chicken drumstick in one bowl and place the peach in the other bowl.",
|
| 528 |
+
"fixture_refs": {
|
| 529 |
+
"cab": "cab_1_left_group",
|
| 530 |
+
"counter": "counter_1_left_group"
|
| 531 |
+
},
|
| 532 |
+
"cam_configs": {
|
| 533 |
+
"robot0_agentview_center": {
|
| 534 |
+
"pos": [
|
| 535 |
+
-0.6,
|
| 536 |
+
0.0,
|
| 537 |
+
1.15
|
| 538 |
+
],
|
| 539 |
+
"quat": [
|
| 540 |
+
0.636945903301239,
|
| 541 |
+
0.3325185477733612,
|
| 542 |
+
-0.3199238181114197,
|
| 543 |
+
-0.6175596117973328
|
| 544 |
+
],
|
| 545 |
+
"parent_body": "mobilebase0_support"
|
| 546 |
+
},
|
| 547 |
+
"robot0_agentview_left": {
|
| 548 |
+
"pos": [
|
| 549 |
+
-0.5,
|
| 550 |
+
0.35,
|
| 551 |
+
1.05
|
| 552 |
+
],
|
| 553 |
+
"quat": [
|
| 554 |
+
0.55623853,
|
| 555 |
+
0.29935253,
|
| 556 |
+
-0.37678665,
|
| 557 |
+
-0.6775092
|
| 558 |
+
],
|
| 559 |
+
"camera_attribs": {
|
| 560 |
+
"fovy": "60"
|
| 561 |
+
},
|
| 562 |
+
"parent_body": "mobilebase0_support"
|
| 563 |
+
},
|
| 564 |
+
"robot0_agentview_right": {
|
| 565 |
+
"pos": [
|
| 566 |
+
-0.5,
|
| 567 |
+
-0.35,
|
| 568 |
+
1.05
|
| 569 |
+
],
|
| 570 |
+
"quat": [
|
| 571 |
+
0.6775091886520386,
|
| 572 |
+
0.3767866790294647,
|
| 573 |
+
-0.2993525564670563,
|
| 574 |
+
-0.55623859167099
|
| 575 |
+
],
|
| 576 |
+
"camera_attribs": {
|
| 577 |
+
"fovy": "60"
|
| 578 |
+
},
|
| 579 |
+
"parent_body": "mobilebase0_support"
|
| 580 |
+
},
|
| 581 |
+
"robot0_frontview": {
|
| 582 |
+
"pos": [
|
| 583 |
+
-0.5,
|
| 584 |
+
0,
|
| 585 |
+
0.95
|
| 586 |
+
],
|
| 587 |
+
"quat": [
|
| 588 |
+
0.6088936924934387,
|
| 589 |
+
0.3814677894115448,
|
| 590 |
+
-0.3673907518386841,
|
| 591 |
+
-0.5905545353889465
|
| 592 |
+
],
|
| 593 |
+
"camera_attribs": {
|
| 594 |
+
"fovy": "60"
|
| 595 |
+
},
|
| 596 |
+
"parent_body": "mobilebase0_support"
|
| 597 |
+
},
|
| 598 |
+
"robot0_eye_in_hand": {
|
| 599 |
+
"pos": [
|
| 600 |
+
0.05,
|
| 601 |
+
0,
|
| 602 |
+
0
|
| 603 |
+
],
|
| 604 |
+
"quat": [
|
| 605 |
+
0,
|
| 606 |
+
0.707107,
|
| 607 |
+
0.707107,
|
| 608 |
+
0
|
| 609 |
+
],
|
| 610 |
+
"parent_body": "robot0_right_hand"
|
| 611 |
+
}
|
| 612 |
+
},
|
| 613 |
+
"init_robot_base_pos": [
|
| 614 |
+
0.7774013629849578,
|
| 615 |
+
-5.602984635895391,
|
| 616 |
+
0.0
|
| 617 |
+
],
|
| 618 |
+
"init_robot_base_ori": [
|
| 619 |
+
0.0,
|
| 620 |
+
0.0,
|
| 621 |
+
3.141592787948654
|
| 622 |
+
]
|
| 623 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000016/ep_meta.json
ADDED
|
@@ -0,0 +1,623 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 18,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_left_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
1.04,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_left_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
1.04,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_left_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_left_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.052485888220760536,
|
| 107 |
+
0.07075409086873356,
|
| 108 |
+
0.05235486654311284
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"mushroom",
|
| 125 |
+
"vegetable",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "mushroom",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
1.1999999999999997,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-1.2000000000000002,
|
| 143 |
+
-3.469446951953614e-17,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_left_group",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "cab_1_left_group",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.13911105,
|
| 159 |
+
0.016237249999999998,
|
| 160 |
+
0.016010975
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"cream_cheese_stick",
|
| 177 |
+
"dairy",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "cream_cheese_stick",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick003/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
1.1999999999999997,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
-1.2000000000000002,
|
| 195 |
+
-3.469446951953614e-17,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_1_left_group",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "cab_1_left_group",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.04293534824000001,
|
| 210 |
+
0.06672588944,
|
| 211 |
+
0.04342970552
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"egg",
|
| 228 |
+
"dairy",
|
| 229 |
+
"food",
|
| 230 |
+
"in_container",
|
| 231 |
+
"food_set1"
|
| 232 |
+
],
|
| 233 |
+
"groups": [
|
| 234 |
+
"all"
|
| 235 |
+
],
|
| 236 |
+
"cat": "egg",
|
| 237 |
+
"split": "train",
|
| 238 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_10/model.xml"
|
| 239 |
+
},
|
| 240 |
+
"reset_region": {
|
| 241 |
+
"size": [
|
| 242 |
+
1.1999999999999997,
|
| 243 |
+
0.65
|
| 244 |
+
],
|
| 245 |
+
"offset": [
|
| 246 |
+
-1.2000000000000002,
|
| 247 |
+
-3.469446951953614e-17,
|
| 248 |
+
0.46
|
| 249 |
+
],
|
| 250 |
+
"name": "geom_0"
|
| 251 |
+
}
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"fixtures": {
|
| 255 |
+
"wall_main_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_main_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_right_1_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_1_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_left_1_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_left_1_backing_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_left_3_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_left_3_backing_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"wall_left_2_room": {
|
| 280 |
+
"cls": "Wall"
|
| 281 |
+
},
|
| 282 |
+
"wall_left_2_backing_room": {
|
| 283 |
+
"cls": "Wall"
|
| 284 |
+
},
|
| 285 |
+
"floor_1_room": {
|
| 286 |
+
"cls": "Floor"
|
| 287 |
+
},
|
| 288 |
+
"floor_1_backing_room": {
|
| 289 |
+
"cls": "Floor"
|
| 290 |
+
},
|
| 291 |
+
"light_switch_1_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"light_switch_2_room": {
|
| 295 |
+
"cls": "WallAccessory"
|
| 296 |
+
},
|
| 297 |
+
"light_switch_3_room": {
|
| 298 |
+
"cls": "WallAccessory"
|
| 299 |
+
},
|
| 300 |
+
"light_switch_4_room": {
|
| 301 |
+
"cls": "WallAccessory"
|
| 302 |
+
},
|
| 303 |
+
"wall_accessory_1_room": {
|
| 304 |
+
"cls": "WallAccessory"
|
| 305 |
+
},
|
| 306 |
+
"light_switch_5_room": {
|
| 307 |
+
"cls": "WallAccessory"
|
| 308 |
+
},
|
| 309 |
+
"light_switch_6_room": {
|
| 310 |
+
"cls": "WallAccessory"
|
| 311 |
+
},
|
| 312 |
+
"light_switch_7_room": {
|
| 313 |
+
"cls": "WallAccessory"
|
| 314 |
+
},
|
| 315 |
+
"window_group_1_room": {
|
| 316 |
+
"cls": "Window"
|
| 317 |
+
},
|
| 318 |
+
"window_group_2_room": {
|
| 319 |
+
"cls": "Window"
|
| 320 |
+
},
|
| 321 |
+
"bottom_main_group_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"bottom_main_group_1": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"oven_main_group": {
|
| 328 |
+
"cls": "Oven"
|
| 329 |
+
},
|
| 330 |
+
"oven_housing_main_group": {
|
| 331 |
+
"cls": "HousingCabinet"
|
| 332 |
+
},
|
| 333 |
+
"microwave_main_group": {
|
| 334 |
+
"cls": "Microwave"
|
| 335 |
+
},
|
| 336 |
+
"microwave_housing_main_group": {
|
| 337 |
+
"cls": "HousingCabinet"
|
| 338 |
+
},
|
| 339 |
+
"top_main_group": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"fridge_main_group": {
|
| 343 |
+
"cls": "FridgeSideBySide"
|
| 344 |
+
},
|
| 345 |
+
"fridge_housing_main_group": {
|
| 346 |
+
"cls": "HousingCabinet"
|
| 347 |
+
},
|
| 348 |
+
"counter_1_main_group": {
|
| 349 |
+
"cls": "Counter"
|
| 350 |
+
},
|
| 351 |
+
"counter_corner_main_group": {
|
| 352 |
+
"cls": "Counter"
|
| 353 |
+
},
|
| 354 |
+
"stack_1_main_group_base": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"stack_1_main_group_1": {
|
| 358 |
+
"cls": "SingleCabinet"
|
| 359 |
+
},
|
| 360 |
+
"box_1_main_group": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
+
},
|
| 363 |
+
"cab_1_main_group": {
|
| 364 |
+
"cls": "HingeCabinet"
|
| 365 |
+
},
|
| 366 |
+
"cab_2_main_group": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"toaster_oven_main_group": {
|
| 370 |
+
"cls": "ToasterOven"
|
| 371 |
+
},
|
| 372 |
+
"plant_main_group": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
+
"stovetop_left_group": {
|
| 376 |
+
"cls": "Stovetop"
|
| 377 |
+
},
|
| 378 |
+
"counter_1_left_group": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_left_group_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_left_group_1": {
|
| 385 |
+
"cls": "SingleCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_left_group_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_left_group_1": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_left_group_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_left_group_3": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
+
},
|
| 399 |
+
"stack_2_left_group_4": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_2_left_group_5": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_2_left_group_6": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_left_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_3_left_group_1": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_3_left_group_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_3_left_group_3": {
|
| 418 |
+
"cls": "PanelCabinet"
|
| 419 |
+
},
|
| 420 |
+
"stack_4_left_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_4_left_group_1": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"stack_4_left_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_4_left_group_3": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_4_left_group_4": {
|
| 433 |
+
"cls": "Drawer"
|
| 434 |
+
},
|
| 435 |
+
"stack_4_left_group_5": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_4_left_group_6": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_5_left_group_base": {
|
| 442 |
+
"cls": "Box"
|
| 443 |
+
},
|
| 444 |
+
"stack_5_left_group_1": {
|
| 445 |
+
"cls": "SingleCabinet"
|
| 446 |
+
},
|
| 447 |
+
"hood_left_group": {
|
| 448 |
+
"cls": "Hood"
|
| 449 |
+
},
|
| 450 |
+
"cab_1_left_group": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"cab_2_left_group": {
|
| 454 |
+
"cls": "HingeCabinet"
|
| 455 |
+
},
|
| 456 |
+
"paper_towel_left_group": {
|
| 457 |
+
"cls": "Accessory"
|
| 458 |
+
},
|
| 459 |
+
"coffee_machine_left_group": {
|
| 460 |
+
"cls": "CoffeeMachine"
|
| 461 |
+
},
|
| 462 |
+
"sink_1_right_group": {
|
| 463 |
+
"cls": "Sink"
|
| 464 |
+
},
|
| 465 |
+
"counter_1_right_group": {
|
| 466 |
+
"cls": "Counter"
|
| 467 |
+
},
|
| 468 |
+
"box_1_right_group": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_1_right_group_base": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"stack_1_right_group_1": {
|
| 475 |
+
"cls": "SingleCabinet"
|
| 476 |
+
},
|
| 477 |
+
"stack_2_right_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_2_right_group_1": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"stack_2_right_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_2_right_group_3": {
|
| 487 |
+
"cls": "Drawer"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_right_group_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_right_group_1": {
|
| 493 |
+
"cls": "SingleCabinet"
|
| 494 |
+
},
|
| 495 |
+
"stack_4_right_group_base": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"stack_4_right_group_1": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"stack_5_right_group_base": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"stack_5_right_group_1": {
|
| 505 |
+
"cls": "HingeCabinet"
|
| 506 |
+
},
|
| 507 |
+
"dishwasher_1_right_group": {
|
| 508 |
+
"cls": "Dishwasher"
|
| 509 |
+
},
|
| 510 |
+
"panel_stack_right_group_base": {
|
| 511 |
+
"cls": "Box"
|
| 512 |
+
},
|
| 513 |
+
"panel_stack_right_group_1": {
|
| 514 |
+
"cls": "PanelCabinet"
|
| 515 |
+
},
|
| 516 |
+
"wall_stack_right_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"wall_stack_right_group_1": {
|
| 520 |
+
"cls": "HingeCabinet"
|
| 521 |
+
},
|
| 522 |
+
"toaster_right_group": {
|
| 523 |
+
"cls": "Toaster"
|
| 524 |
+
}
|
| 525 |
+
},
|
| 526 |
+
"gen_textures": {},
|
| 527 |
+
"lang": "Pick both bowls and place them on the counter. Then place the mushroom in one bowl and place the cream cheese stick in the other bowl.",
|
| 528 |
+
"fixture_refs": {
|
| 529 |
+
"cab": "cab_1_left_group",
|
| 530 |
+
"counter": "counter_1_left_group"
|
| 531 |
+
},
|
| 532 |
+
"cam_configs": {
|
| 533 |
+
"robot0_agentview_center": {
|
| 534 |
+
"pos": [
|
| 535 |
+
-0.6,
|
| 536 |
+
0.0,
|
| 537 |
+
1.15
|
| 538 |
+
],
|
| 539 |
+
"quat": [
|
| 540 |
+
0.636945903301239,
|
| 541 |
+
0.3325185477733612,
|
| 542 |
+
-0.3199238181114197,
|
| 543 |
+
-0.6175596117973328
|
| 544 |
+
],
|
| 545 |
+
"parent_body": "mobilebase0_support"
|
| 546 |
+
},
|
| 547 |
+
"robot0_agentview_left": {
|
| 548 |
+
"pos": [
|
| 549 |
+
-0.5,
|
| 550 |
+
0.35,
|
| 551 |
+
1.05
|
| 552 |
+
],
|
| 553 |
+
"quat": [
|
| 554 |
+
0.55623853,
|
| 555 |
+
0.29935253,
|
| 556 |
+
-0.37678665,
|
| 557 |
+
-0.6775092
|
| 558 |
+
],
|
| 559 |
+
"camera_attribs": {
|
| 560 |
+
"fovy": "60"
|
| 561 |
+
},
|
| 562 |
+
"parent_body": "mobilebase0_support"
|
| 563 |
+
},
|
| 564 |
+
"robot0_agentview_right": {
|
| 565 |
+
"pos": [
|
| 566 |
+
-0.5,
|
| 567 |
+
-0.35,
|
| 568 |
+
1.05
|
| 569 |
+
],
|
| 570 |
+
"quat": [
|
| 571 |
+
0.6775091886520386,
|
| 572 |
+
0.3767866790294647,
|
| 573 |
+
-0.2993525564670563,
|
| 574 |
+
-0.55623859167099
|
| 575 |
+
],
|
| 576 |
+
"camera_attribs": {
|
| 577 |
+
"fovy": "60"
|
| 578 |
+
},
|
| 579 |
+
"parent_body": "mobilebase0_support"
|
| 580 |
+
},
|
| 581 |
+
"robot0_frontview": {
|
| 582 |
+
"pos": [
|
| 583 |
+
-0.5,
|
| 584 |
+
0,
|
| 585 |
+
0.95
|
| 586 |
+
],
|
| 587 |
+
"quat": [
|
| 588 |
+
0.6088936924934387,
|
| 589 |
+
0.3814677894115448,
|
| 590 |
+
-0.3673907518386841,
|
| 591 |
+
-0.5905545353889465
|
| 592 |
+
],
|
| 593 |
+
"camera_attribs": {
|
| 594 |
+
"fovy": "60"
|
| 595 |
+
},
|
| 596 |
+
"parent_body": "mobilebase0_support"
|
| 597 |
+
},
|
| 598 |
+
"robot0_eye_in_hand": {
|
| 599 |
+
"pos": [
|
| 600 |
+
0.05,
|
| 601 |
+
0,
|
| 602 |
+
0
|
| 603 |
+
],
|
| 604 |
+
"quat": [
|
| 605 |
+
0,
|
| 606 |
+
0.707107,
|
| 607 |
+
0.707107,
|
| 608 |
+
0
|
| 609 |
+
],
|
| 610 |
+
"parent_body": "robot0_right_hand"
|
| 611 |
+
}
|
| 612 |
+
},
|
| 613 |
+
"init_robot_base_pos": [
|
| 614 |
+
0.7835419607155015,
|
| 615 |
+
-5.489927496979533,
|
| 616 |
+
0.0
|
| 617 |
+
],
|
| 618 |
+
"init_robot_base_ori": [
|
| 619 |
+
0.0,
|
| 620 |
+
0.0,
|
| 621 |
+
3.141592787948654
|
| 622 |
+
]
|
| 623 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000017/ep_meta.json
ADDED
|
@@ -0,0 +1,595 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 57,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_2_main_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.590003,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_2_main_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.590003,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_2_main_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.100986012,
|
| 107 |
+
0.142728,
|
| 108 |
+
0.0357024
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"chicken_drumstick",
|
| 125 |
+
"meat",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"oven_ready"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"food"
|
| 132 |
+
],
|
| 133 |
+
"cat": "chicken_drumstick",
|
| 134 |
+
"split": "train",
|
| 135 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml"
|
| 136 |
+
},
|
| 137 |
+
"reset_region": {
|
| 138 |
+
"size": [
|
| 139 |
+
0.6500839999999992,
|
| 140 |
+
0.65
|
| 141 |
+
],
|
| 142 |
+
"offset": [
|
| 143 |
+
1.0506000000000002,
|
| 144 |
+
-3.469446951953614e-17,
|
| 145 |
+
0.46
|
| 146 |
+
],
|
| 147 |
+
"name": "geom_0"
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"name": "food2",
|
| 152 |
+
"obj_groups": "food",
|
| 153 |
+
"graspable": true,
|
| 154 |
+
"placement": {
|
| 155 |
+
"fixture": "counter_1_main_group_1",
|
| 156 |
+
"sample_region_kwargs": {
|
| 157 |
+
"ref": "hingecabinet_2_main_group_1",
|
| 158 |
+
"min_size": [
|
| 159 |
+
0.04064816319999999,
|
| 160 |
+
0.14436470859999995,
|
| 161 |
+
0.04074787679999999
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"size": [
|
| 165 |
+
0.6,
|
| 166 |
+
0.3
|
| 167 |
+
],
|
| 168 |
+
"pos": [
|
| 169 |
+
"ref",
|
| 170 |
+
-1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"type": "object",
|
| 174 |
+
"info": {
|
| 175 |
+
"groups_containing_sampled_obj": [
|
| 176 |
+
"all",
|
| 177 |
+
"carrot",
|
| 178 |
+
"vegetable",
|
| 179 |
+
"food",
|
| 180 |
+
"in_container",
|
| 181 |
+
"food_set1",
|
| 182 |
+
"group1"
|
| 183 |
+
],
|
| 184 |
+
"groups": [
|
| 185 |
+
"food"
|
| 186 |
+
],
|
| 187 |
+
"cat": "carrot",
|
| 188 |
+
"split": "train",
|
| 189 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml"
|
| 190 |
+
},
|
| 191 |
+
"reset_region": {
|
| 192 |
+
"size": [
|
| 193 |
+
0.6500839999999992,
|
| 194 |
+
0.65
|
| 195 |
+
],
|
| 196 |
+
"offset": [
|
| 197 |
+
1.0506000000000002,
|
| 198 |
+
-3.469446951953614e-17,
|
| 199 |
+
0.46
|
| 200 |
+
],
|
| 201 |
+
"name": "geom_0"
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"name": "distr_counter",
|
| 206 |
+
"obj_groups": "all",
|
| 207 |
+
"placement": {
|
| 208 |
+
"fixture": "counter_1_main_group_1",
|
| 209 |
+
"sample_region_kwargs": {
|
| 210 |
+
"ref": "hingecabinet_2_main_group_1",
|
| 211 |
+
"min_size": [
|
| 212 |
+
0.06166207599999998,
|
| 213 |
+
0.06545791279999998,
|
| 214 |
+
0.06900705419999997
|
| 215 |
+
]
|
| 216 |
+
},
|
| 217 |
+
"size": [
|
| 218 |
+
0.5,
|
| 219 |
+
0.2
|
| 220 |
+
],
|
| 221 |
+
"pos": [
|
| 222 |
+
"ref",
|
| 223 |
+
1.0
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
+
"type": "object",
|
| 227 |
+
"info": {
|
| 228 |
+
"groups_containing_sampled_obj": [
|
| 229 |
+
"all",
|
| 230 |
+
"peach",
|
| 231 |
+
"fruit",
|
| 232 |
+
"food",
|
| 233 |
+
"in_container"
|
| 234 |
+
],
|
| 235 |
+
"groups": [
|
| 236 |
+
"all"
|
| 237 |
+
],
|
| 238 |
+
"cat": "peach",
|
| 239 |
+
"split": "train",
|
| 240 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml"
|
| 241 |
+
},
|
| 242 |
+
"reset_region": {
|
| 243 |
+
"size": [
|
| 244 |
+
0.6500839999999992,
|
| 245 |
+
0.65
|
| 246 |
+
],
|
| 247 |
+
"offset": [
|
| 248 |
+
1.0506000000000002,
|
| 249 |
+
-3.469446951953614e-17,
|
| 250 |
+
0.46
|
| 251 |
+
],
|
| 252 |
+
"name": "geom_0"
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
],
|
| 256 |
+
"fixtures": {
|
| 257 |
+
"wall_right_1_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_right_1_backing_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_main_1_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"wall_main_1_backing_room": {
|
| 267 |
+
"cls": "Wall"
|
| 268 |
+
},
|
| 269 |
+
"floor_1_room": {
|
| 270 |
+
"cls": "Floor"
|
| 271 |
+
},
|
| 272 |
+
"floor_1_backing_room": {
|
| 273 |
+
"cls": "Floor"
|
| 274 |
+
},
|
| 275 |
+
"wallaccessory_3_room": {
|
| 276 |
+
"cls": "WallAccessory"
|
| 277 |
+
},
|
| 278 |
+
"wallaccessory_4_room": {
|
| 279 |
+
"cls": "WallAccessory"
|
| 280 |
+
},
|
| 281 |
+
"lightswitch_01_room": {
|
| 282 |
+
"cls": "WallAccessory"
|
| 283 |
+
},
|
| 284 |
+
"window_group_1_room": {
|
| 285 |
+
"cls": "Window"
|
| 286 |
+
},
|
| 287 |
+
"stool_1_room": {
|
| 288 |
+
"cls": "Stool"
|
| 289 |
+
},
|
| 290 |
+
"stool_2_room": {
|
| 291 |
+
"cls": "Stool"
|
| 292 |
+
},
|
| 293 |
+
"hingecabinet_2_main_group_1": {
|
| 294 |
+
"cls": "HingeCabinet"
|
| 295 |
+
},
|
| 296 |
+
"hingecabinet_3_main_group_1": {
|
| 297 |
+
"cls": "HingeCabinet"
|
| 298 |
+
},
|
| 299 |
+
"hingecabinet_4_main_group_1": {
|
| 300 |
+
"cls": "HingeCabinet"
|
| 301 |
+
},
|
| 302 |
+
"singlecabinet_1_main_group_1": {
|
| 303 |
+
"cls": "SingleCabinet"
|
| 304 |
+
},
|
| 305 |
+
"sink_main_group_1": {
|
| 306 |
+
"cls": "Sink"
|
| 307 |
+
},
|
| 308 |
+
"counter_1_main_group_1": {
|
| 309 |
+
"cls": "Counter"
|
| 310 |
+
},
|
| 311 |
+
"cube_3_main_group_1": {
|
| 312 |
+
"cls": "Box"
|
| 313 |
+
},
|
| 314 |
+
"stack_02_main_group_1_base": {
|
| 315 |
+
"cls": "Box"
|
| 316 |
+
},
|
| 317 |
+
"stack_02_main_group_1_1": {
|
| 318 |
+
"cls": "SingleCabinet"
|
| 319 |
+
},
|
| 320 |
+
"stack_02_main_group_1_2": {
|
| 321 |
+
"cls": "Drawer"
|
| 322 |
+
},
|
| 323 |
+
"stack_01_main_group_1_base": {
|
| 324 |
+
"cls": "Box"
|
| 325 |
+
},
|
| 326 |
+
"stack_01_main_group_1_1": {
|
| 327 |
+
"cls": "HingeCabinet"
|
| 328 |
+
},
|
| 329 |
+
"stack_01_main_group_1_2": {
|
| 330 |
+
"cls": "PanelCabinet"
|
| 331 |
+
},
|
| 332 |
+
"stack_03_main_group_1_base": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"stack_03_main_group_1_1": {
|
| 336 |
+
"cls": "SingleCabinet"
|
| 337 |
+
},
|
| 338 |
+
"dishwasher_1_main_group_1": {
|
| 339 |
+
"cls": "Dishwasher"
|
| 340 |
+
},
|
| 341 |
+
"cube_9_main_group_1": {
|
| 342 |
+
"cls": "Box"
|
| 343 |
+
},
|
| 344 |
+
"toaster_main_group_1": {
|
| 345 |
+
"cls": "Toaster"
|
| 346 |
+
},
|
| 347 |
+
"fridgesidebyside_main_group_1": {
|
| 348 |
+
"cls": "FridgeSideBySide"
|
| 349 |
+
},
|
| 350 |
+
"fridgesidebyside_housing_main_group_1": {
|
| 351 |
+
"cls": "HousingCabinet"
|
| 352 |
+
},
|
| 353 |
+
"hingecabinet_1_main_group_1": {
|
| 354 |
+
"cls": "HingeCabinet"
|
| 355 |
+
},
|
| 356 |
+
"bottom_main_group_1_base": {
|
| 357 |
+
"cls": "Box"
|
| 358 |
+
},
|
| 359 |
+
"bottom_main_group_1_1": {
|
| 360 |
+
"cls": "Drawer"
|
| 361 |
+
},
|
| 362 |
+
"oven_cabinet_main_group_1": {
|
| 363 |
+
"cls": "HingeCabinet"
|
| 364 |
+
},
|
| 365 |
+
"microwave_main_group_1": {
|
| 366 |
+
"cls": "Microwave"
|
| 367 |
+
},
|
| 368 |
+
"microwave_housing_main_group_1": {
|
| 369 |
+
"cls": "HousingCabinet"
|
| 370 |
+
},
|
| 371 |
+
"top_main_group_1": {
|
| 372 |
+
"cls": "HingeCabinet"
|
| 373 |
+
},
|
| 374 |
+
"hingecabinet_5_left_group_1": {
|
| 375 |
+
"cls": "HingeCabinet"
|
| 376 |
+
},
|
| 377 |
+
"singlecabinet_2_left_group_1": {
|
| 378 |
+
"cls": "SingleCabinet"
|
| 379 |
+
},
|
| 380 |
+
"cube_4_left_group_1": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"counter_corner_1_left_group_1": {
|
| 384 |
+
"cls": "Counter"
|
| 385 |
+
},
|
| 386 |
+
"counter_2_left_group_1": {
|
| 387 |
+
"cls": "Counter"
|
| 388 |
+
},
|
| 389 |
+
"stack_04_left_group_1_base": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"stack_04_left_group_1_1": {
|
| 393 |
+
"cls": "SingleCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_05_left_group_1_base": {
|
| 396 |
+
"cls": "Box"
|
| 397 |
+
},
|
| 398 |
+
"stack_05_left_group_1_1": {
|
| 399 |
+
"cls": "Drawer"
|
| 400 |
+
},
|
| 401 |
+
"stack_05_left_group_1_2": {
|
| 402 |
+
"cls": "Drawer"
|
| 403 |
+
},
|
| 404 |
+
"stack_05_left_group_1_3": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"cube_10_left_group_1": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"cube_11_left_group_1": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"coffee_machine_left_group_1": {
|
| 414 |
+
"cls": "CoffeeMachine"
|
| 415 |
+
},
|
| 416 |
+
"paper_towel_left_group_1": {
|
| 417 |
+
"cls": "Accessory"
|
| 418 |
+
},
|
| 419 |
+
"island_1_island_group_1": {
|
| 420 |
+
"cls": "Counter"
|
| 421 |
+
},
|
| 422 |
+
"island_2_island_group_1": {
|
| 423 |
+
"cls": "Counter"
|
| 424 |
+
},
|
| 425 |
+
"island_3_island_group_1": {
|
| 426 |
+
"cls": "Counter"
|
| 427 |
+
},
|
| 428 |
+
"stove_island_group_1": {
|
| 429 |
+
"cls": "Stove"
|
| 430 |
+
},
|
| 431 |
+
"stove_hood_island_group_1": {
|
| 432 |
+
"cls": "Hood"
|
| 433 |
+
},
|
| 434 |
+
"cube_1_island_group_1": {
|
| 435 |
+
"cls": "Box"
|
| 436 |
+
},
|
| 437 |
+
"cube_2_island_group_1": {
|
| 438 |
+
"cls": "Box"
|
| 439 |
+
},
|
| 440 |
+
"stack_07_island_group_1_base": {
|
| 441 |
+
"cls": "Box"
|
| 442 |
+
},
|
| 443 |
+
"stack_07_island_group_1_1": {
|
| 444 |
+
"cls": "SingleCabinet"
|
| 445 |
+
},
|
| 446 |
+
"stack_07_island_group_1_2": {
|
| 447 |
+
"cls": "Drawer"
|
| 448 |
+
},
|
| 449 |
+
"stack_06_island_group_1_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_06_island_group_1_1": {
|
| 453 |
+
"cls": "SingleCabinet"
|
| 454 |
+
},
|
| 455 |
+
"stack_06_island_group_1_2": {
|
| 456 |
+
"cls": "Drawer"
|
| 457 |
+
},
|
| 458 |
+
"stack_09_island_group_2_base": {
|
| 459 |
+
"cls": "Box"
|
| 460 |
+
},
|
| 461 |
+
"stack_09_island_group_2_1": {
|
| 462 |
+
"cls": "SingleCabinet"
|
| 463 |
+
},
|
| 464 |
+
"stack_09_island_group_2_2": {
|
| 465 |
+
"cls": "Drawer"
|
| 466 |
+
},
|
| 467 |
+
"stack_08_island_group_2_base": {
|
| 468 |
+
"cls": "Box"
|
| 469 |
+
},
|
| 470 |
+
"stack_08_island_group_2_1": {
|
| 471 |
+
"cls": "SingleCabinet"
|
| 472 |
+
},
|
| 473 |
+
"stack_08_island_group_2_2": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"stack_10_island_group_2_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"stack_10_island_group_2_1": {
|
| 480 |
+
"cls": "SingleCabinet"
|
| 481 |
+
},
|
| 482 |
+
"stack_10_island_group_2_2": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_11_island_group_2_base": {
|
| 486 |
+
"cls": "Box"
|
| 487 |
+
},
|
| 488 |
+
"stack_11_island_group_2_1": {
|
| 489 |
+
"cls": "SingleCabinet"
|
| 490 |
+
},
|
| 491 |
+
"stack_11_island_group_2_2": {
|
| 492 |
+
"cls": "Drawer"
|
| 493 |
+
},
|
| 494 |
+
"cube_5_island_group_2": {
|
| 495 |
+
"cls": "Box"
|
| 496 |
+
}
|
| 497 |
+
},
|
| 498 |
+
"gen_textures": {},
|
| 499 |
+
"lang": "Pick both bowls and place them on the counter. Then place the chicken drumstick in one bowl and place the carrot in the other bowl.",
|
| 500 |
+
"fixture_refs": {
|
| 501 |
+
"cab": "hingecabinet_2_main_group_1",
|
| 502 |
+
"counter": "counter_1_main_group_1"
|
| 503 |
+
},
|
| 504 |
+
"cam_configs": {
|
| 505 |
+
"robot0_agentview_center": {
|
| 506 |
+
"pos": [
|
| 507 |
+
-0.6,
|
| 508 |
+
0.0,
|
| 509 |
+
1.15
|
| 510 |
+
],
|
| 511 |
+
"quat": [
|
| 512 |
+
0.636945903301239,
|
| 513 |
+
0.3325185477733612,
|
| 514 |
+
-0.3199238181114197,
|
| 515 |
+
-0.6175596117973328
|
| 516 |
+
],
|
| 517 |
+
"parent_body": "mobilebase0_support"
|
| 518 |
+
},
|
| 519 |
+
"robot0_agentview_left": {
|
| 520 |
+
"pos": [
|
| 521 |
+
-0.5,
|
| 522 |
+
0.35,
|
| 523 |
+
1.05
|
| 524 |
+
],
|
| 525 |
+
"quat": [
|
| 526 |
+
0.55623853,
|
| 527 |
+
0.29935253,
|
| 528 |
+
-0.37678665,
|
| 529 |
+
-0.6775092
|
| 530 |
+
],
|
| 531 |
+
"camera_attribs": {
|
| 532 |
+
"fovy": "60"
|
| 533 |
+
},
|
| 534 |
+
"parent_body": "mobilebase0_support"
|
| 535 |
+
},
|
| 536 |
+
"robot0_agentview_right": {
|
| 537 |
+
"pos": [
|
| 538 |
+
-0.5,
|
| 539 |
+
-0.35,
|
| 540 |
+
1.05
|
| 541 |
+
],
|
| 542 |
+
"quat": [
|
| 543 |
+
0.6775091886520386,
|
| 544 |
+
0.3767866790294647,
|
| 545 |
+
-0.2993525564670563,
|
| 546 |
+
-0.55623859167099
|
| 547 |
+
],
|
| 548 |
+
"camera_attribs": {
|
| 549 |
+
"fovy": "60"
|
| 550 |
+
},
|
| 551 |
+
"parent_body": "mobilebase0_support"
|
| 552 |
+
},
|
| 553 |
+
"robot0_frontview": {
|
| 554 |
+
"pos": [
|
| 555 |
+
-0.5,
|
| 556 |
+
0,
|
| 557 |
+
0.95
|
| 558 |
+
],
|
| 559 |
+
"quat": [
|
| 560 |
+
0.6088936924934387,
|
| 561 |
+
0.3814677894115448,
|
| 562 |
+
-0.3673907518386841,
|
| 563 |
+
-0.5905545353889465
|
| 564 |
+
],
|
| 565 |
+
"camera_attribs": {
|
| 566 |
+
"fovy": "60"
|
| 567 |
+
},
|
| 568 |
+
"parent_body": "mobilebase0_support"
|
| 569 |
+
},
|
| 570 |
+
"robot0_eye_in_hand": {
|
| 571 |
+
"pos": [
|
| 572 |
+
0.05,
|
| 573 |
+
0,
|
| 574 |
+
0
|
| 575 |
+
],
|
| 576 |
+
"quat": [
|
| 577 |
+
0,
|
| 578 |
+
0.707107,
|
| 579 |
+
0.707107,
|
| 580 |
+
0
|
| 581 |
+
],
|
| 582 |
+
"parent_body": "robot0_right_hand"
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
"init_robot_base_pos": [
|
| 586 |
+
-0.8333607300717218,
|
| 587 |
+
-3.0734326310270395,
|
| 588 |
+
0.0
|
| 589 |
+
],
|
| 590 |
+
"init_robot_base_ori": [
|
| 591 |
+
0.0,
|
| 592 |
+
0.0,
|
| 593 |
+
-0.000175978787528841
|
| 594 |
+
]
|
| 595 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000019/ep_meta.json
ADDED
|
@@ -0,0 +1,664 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 17,
|
| 3 |
+
"style_id": 24,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_main_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.752,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_main_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.752,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_main_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.0788622505,
|
| 107 |
+
0.15373923349999996,
|
| 108 |
+
0.056573767
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"hotdog_bun",
|
| 125 |
+
"bread_food",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "hotdog_bun",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
0.2919999999999998,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-2.0375,
|
| 143 |
+
-3.469446951953614e-17,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_main_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "cab_1_main_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.07927373650812587,
|
| 159 |
+
0.09602077883361064,
|
| 160 |
+
0.08800877666079267
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"potato",
|
| 177 |
+
"vegetable",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container",
|
| 180 |
+
"food_set1",
|
| 181 |
+
"oven_ready"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
+
"food"
|
| 185 |
+
],
|
| 186 |
+
"cat": "potato",
|
| 187 |
+
"split": "train",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml"
|
| 189 |
+
},
|
| 190 |
+
"reset_region": {
|
| 191 |
+
"size": [
|
| 192 |
+
0.2919999999999998,
|
| 193 |
+
0.65
|
| 194 |
+
],
|
| 195 |
+
"offset": [
|
| 196 |
+
-2.0375,
|
| 197 |
+
-3.469446951953614e-17,
|
| 198 |
+
0.46
|
| 199 |
+
],
|
| 200 |
+
"name": "geom_0"
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "distr_counter",
|
| 205 |
+
"obj_groups": "all",
|
| 206 |
+
"placement": {
|
| 207 |
+
"fixture": "counter_1_main_group_1",
|
| 208 |
+
"sample_region_kwargs": {
|
| 209 |
+
"ref": "cab_1_main_group_1",
|
| 210 |
+
"min_size": [
|
| 211 |
+
0.15076347300000004,
|
| 212 |
+
0.156078678,
|
| 213 |
+
0.049723065000000004
|
| 214 |
+
]
|
| 215 |
+
},
|
| 216 |
+
"size": [
|
| 217 |
+
0.5,
|
| 218 |
+
0.2
|
| 219 |
+
],
|
| 220 |
+
"pos": [
|
| 221 |
+
"ref",
|
| 222 |
+
1.0
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"type": "object",
|
| 226 |
+
"info": {
|
| 227 |
+
"groups_containing_sampled_obj": [
|
| 228 |
+
"all",
|
| 229 |
+
"digital_scale",
|
| 230 |
+
"tool"
|
| 231 |
+
],
|
| 232 |
+
"groups": [
|
| 233 |
+
"all"
|
| 234 |
+
],
|
| 235 |
+
"cat": "digital_scale",
|
| 236 |
+
"split": "train",
|
| 237 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale006/model.xml"
|
| 238 |
+
},
|
| 239 |
+
"reset_region": {
|
| 240 |
+
"size": [
|
| 241 |
+
0.2919999999999998,
|
| 242 |
+
0.65
|
| 243 |
+
],
|
| 244 |
+
"offset": [
|
| 245 |
+
-2.0375,
|
| 246 |
+
-3.469446951953614e-17,
|
| 247 |
+
0.46
|
| 248 |
+
],
|
| 249 |
+
"name": "geom_0"
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
],
|
| 253 |
+
"fixtures": {
|
| 254 |
+
"wall_left_1_room": {
|
| 255 |
+
"cls": "Wall"
|
| 256 |
+
},
|
| 257 |
+
"wall_left_1_backing_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_main_1_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_main_1_backing_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"wall_right_1_room": {
|
| 267 |
+
"cls": "Wall"
|
| 268 |
+
},
|
| 269 |
+
"wall_right_1_backing_room": {
|
| 270 |
+
"cls": "Wall"
|
| 271 |
+
},
|
| 272 |
+
"window_group_room": {
|
| 273 |
+
"cls": "Window"
|
| 274 |
+
},
|
| 275 |
+
"floor_1_room": {
|
| 276 |
+
"cls": "Floor"
|
| 277 |
+
},
|
| 278 |
+
"floor_1_backing_room": {
|
| 279 |
+
"cls": "Floor"
|
| 280 |
+
},
|
| 281 |
+
"wall_accessory_1_room": {
|
| 282 |
+
"cls": "WallAccessory"
|
| 283 |
+
},
|
| 284 |
+
"wall_accessory_2_room": {
|
| 285 |
+
"cls": "WallAccessory"
|
| 286 |
+
},
|
| 287 |
+
"wall_accessory_3_room": {
|
| 288 |
+
"cls": "WallAccessory"
|
| 289 |
+
},
|
| 290 |
+
"wall_accessory_4_room": {
|
| 291 |
+
"cls": "WallAccessory"
|
| 292 |
+
},
|
| 293 |
+
"light_switch_1_room": {
|
| 294 |
+
"cls": "WallAccessory"
|
| 295 |
+
},
|
| 296 |
+
"wall_accessory_5_room": {
|
| 297 |
+
"cls": "WallAccessory"
|
| 298 |
+
},
|
| 299 |
+
"wall_accessory_6_room": {
|
| 300 |
+
"cls": "WallAccessory"
|
| 301 |
+
},
|
| 302 |
+
"stool_1_room": {
|
| 303 |
+
"cls": "Stool"
|
| 304 |
+
},
|
| 305 |
+
"stool_2_room": {
|
| 306 |
+
"cls": "Stool"
|
| 307 |
+
},
|
| 308 |
+
"stool_3_room": {
|
| 309 |
+
"cls": "Stool"
|
| 310 |
+
},
|
| 311 |
+
"counter_corner_1_main_group_1": {
|
| 312 |
+
"cls": "Counter"
|
| 313 |
+
},
|
| 314 |
+
"stovetop_main_group_1": {
|
| 315 |
+
"cls": "Stovetop"
|
| 316 |
+
},
|
| 317 |
+
"counter_1_main_group_1": {
|
| 318 |
+
"cls": "Counter"
|
| 319 |
+
},
|
| 320 |
+
"counter_corner_2_main_group_1": {
|
| 321 |
+
"cls": "Counter"
|
| 322 |
+
},
|
| 323 |
+
"box_1_main_group_1": {
|
| 324 |
+
"cls": "Box"
|
| 325 |
+
},
|
| 326 |
+
"stack_1_main_group_1_base": {
|
| 327 |
+
"cls": "Box"
|
| 328 |
+
},
|
| 329 |
+
"stack_1_main_group_1_1": {
|
| 330 |
+
"cls": "SingleCabinet"
|
| 331 |
+
},
|
| 332 |
+
"stack_2_main_group_1_base": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"stack_2_main_group_1_1": {
|
| 336 |
+
"cls": "Drawer"
|
| 337 |
+
},
|
| 338 |
+
"stack_2_main_group_1_2": {
|
| 339 |
+
"cls": "Drawer"
|
| 340 |
+
},
|
| 341 |
+
"stack_2_main_group_1_3": {
|
| 342 |
+
"cls": "Drawer"
|
| 343 |
+
},
|
| 344 |
+
"stack_3_main_group_1_base": {
|
| 345 |
+
"cls": "Box"
|
| 346 |
+
},
|
| 347 |
+
"stack_3_main_group_1_1": {
|
| 348 |
+
"cls": "SingleCabinet"
|
| 349 |
+
},
|
| 350 |
+
"stack_4_main_group_1_base": {
|
| 351 |
+
"cls": "Box"
|
| 352 |
+
},
|
| 353 |
+
"stack_4_main_group_1_1": {
|
| 354 |
+
"cls": "HingeCabinet"
|
| 355 |
+
},
|
| 356 |
+
"stack_5_main_group_1_base": {
|
| 357 |
+
"cls": "Box"
|
| 358 |
+
},
|
| 359 |
+
"stack_5_main_group_1_1": {
|
| 360 |
+
"cls": "SingleCabinet"
|
| 361 |
+
},
|
| 362 |
+
"stack_6_main_group_1_base": {
|
| 363 |
+
"cls": "Box"
|
| 364 |
+
},
|
| 365 |
+
"stack_6_main_group_1_1": {
|
| 366 |
+
"cls": "Drawer"
|
| 367 |
+
},
|
| 368 |
+
"stack_6_main_group_1_2": {
|
| 369 |
+
"cls": "Drawer"
|
| 370 |
+
},
|
| 371 |
+
"stack_6_main_group_1_3": {
|
| 372 |
+
"cls": "Drawer"
|
| 373 |
+
},
|
| 374 |
+
"stack_7_main_group_1_base": {
|
| 375 |
+
"cls": "Box"
|
| 376 |
+
},
|
| 377 |
+
"stack_7_main_group_1_1": {
|
| 378 |
+
"cls": "SingleCabinet"
|
| 379 |
+
},
|
| 380 |
+
"box_2_main_group_1": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"hood_main_group_1": {
|
| 384 |
+
"cls": "Hood"
|
| 385 |
+
},
|
| 386 |
+
"cab_corner_main_group_1": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"cab_1_main_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"cab_2_main_group_1": {
|
| 393 |
+
"cls": "HingeCabinet"
|
| 394 |
+
},
|
| 395 |
+
"cab_3_main_group_1": {
|
| 396 |
+
"cls": "SingleCabinet"
|
| 397 |
+
},
|
| 398 |
+
"cab_4_main_group_1": {
|
| 399 |
+
"cls": "HingeCabinet"
|
| 400 |
+
},
|
| 401 |
+
"cab_5_main_group_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"cab_6_main_group_1": {
|
| 405 |
+
"cls": "SingleCabinet"
|
| 406 |
+
},
|
| 407 |
+
"cab_corner_2_main_group_1": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"coffee_machine_main_group_1": {
|
| 411 |
+
"cls": "CoffeeMachine"
|
| 412 |
+
},
|
| 413 |
+
"toaster_main_group_1": {
|
| 414 |
+
"cls": "Toaster"
|
| 415 |
+
},
|
| 416 |
+
"paper_towel_main_group_1": {
|
| 417 |
+
"cls": "Accessory"
|
| 418 |
+
},
|
| 419 |
+
"knife_block_main_group_1": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"counter_1_left_group_1": {
|
| 423 |
+
"cls": "Counter"
|
| 424 |
+
},
|
| 425 |
+
"stack_1_left_group_1_base": {
|
| 426 |
+
"cls": "Box"
|
| 427 |
+
},
|
| 428 |
+
"stack_1_left_group_1_1": {
|
| 429 |
+
"cls": "Drawer"
|
| 430 |
+
},
|
| 431 |
+
"stack_1_left_group_1_2": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_1_left_group_1_3": {
|
| 435 |
+
"cls": "Drawer"
|
| 436 |
+
},
|
| 437 |
+
"box_left_group_1": {
|
| 438 |
+
"cls": "Box"
|
| 439 |
+
},
|
| 440 |
+
"bottom_left_group_1_base": {
|
| 441 |
+
"cls": "Box"
|
| 442 |
+
},
|
| 443 |
+
"bottom_left_group_1_1": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"oven_left_group_1": {
|
| 447 |
+
"cls": "Oven"
|
| 448 |
+
},
|
| 449 |
+
"oven_housing_left_group_1": {
|
| 450 |
+
"cls": "HousingCabinet"
|
| 451 |
+
},
|
| 452 |
+
"microwave_left_group_1": {
|
| 453 |
+
"cls": "Microwave"
|
| 454 |
+
},
|
| 455 |
+
"microwave_housing_left_group_1": {
|
| 456 |
+
"cls": "HousingCabinet"
|
| 457 |
+
},
|
| 458 |
+
"top_left_group_1": {
|
| 459 |
+
"cls": "HingeCabinet"
|
| 460 |
+
},
|
| 461 |
+
"fridge_1_left_group_1": {
|
| 462 |
+
"cls": "FridgeBottomFreezer"
|
| 463 |
+
},
|
| 464 |
+
"fridge_1_housing_left_group_1": {
|
| 465 |
+
"cls": "HousingCabinet"
|
| 466 |
+
},
|
| 467 |
+
"fridge_cabinet_left_group_1": {
|
| 468 |
+
"cls": "HingeCabinet"
|
| 469 |
+
},
|
| 470 |
+
"cab_1_left_group_1": {
|
| 471 |
+
"cls": "HingeCabinet"
|
| 472 |
+
},
|
| 473 |
+
"toaster_oven_left_group_1": {
|
| 474 |
+
"cls": "ToasterOven"
|
| 475 |
+
},
|
| 476 |
+
"box_right_group_1": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_right_group_1_base": {
|
| 480 |
+
"cls": "Box"
|
| 481 |
+
},
|
| 482 |
+
"stack_1_right_group_1_1": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_1_right_group_1_2": {
|
| 486 |
+
"cls": "Drawer"
|
| 487 |
+
},
|
| 488 |
+
"stack_1_right_group_1_3": {
|
| 489 |
+
"cls": "Drawer"
|
| 490 |
+
},
|
| 491 |
+
"stack_2_right_group_1_base": {
|
| 492 |
+
"cls": "Box"
|
| 493 |
+
},
|
| 494 |
+
"stack_2_right_group_1_1": {
|
| 495 |
+
"cls": "Drawer"
|
| 496 |
+
},
|
| 497 |
+
"stack_2_right_group_1_2": {
|
| 498 |
+
"cls": "Drawer"
|
| 499 |
+
},
|
| 500 |
+
"stack_2_right_group_1_3": {
|
| 501 |
+
"cls": "Drawer"
|
| 502 |
+
},
|
| 503 |
+
"stack_3_right_group_1_base": {
|
| 504 |
+
"cls": "Box"
|
| 505 |
+
},
|
| 506 |
+
"stack_3_right_group_1_1": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"dishwasher_1_right_group_1": {
|
| 510 |
+
"cls": "Dishwasher"
|
| 511 |
+
},
|
| 512 |
+
"stack_4_right_group_1_base": {
|
| 513 |
+
"cls": "Box"
|
| 514 |
+
},
|
| 515 |
+
"stack_4_right_group_1_1": {
|
| 516 |
+
"cls": "Drawer"
|
| 517 |
+
},
|
| 518 |
+
"stack_4_right_group_1_2": {
|
| 519 |
+
"cls": "Drawer"
|
| 520 |
+
},
|
| 521 |
+
"stack_4_right_group_1_3": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"sink_1_right_group_1": {
|
| 525 |
+
"cls": "Sink"
|
| 526 |
+
},
|
| 527 |
+
"counter_1_right_group_1": {
|
| 528 |
+
"cls": "Counter"
|
| 529 |
+
},
|
| 530 |
+
"cab_1_right_group_1": {
|
| 531 |
+
"cls": "OpenCabinet"
|
| 532 |
+
},
|
| 533 |
+
"cab_2_right_group_1": {
|
| 534 |
+
"cls": "OpenCabinet"
|
| 535 |
+
},
|
| 536 |
+
"island_island_group_1": {
|
| 537 |
+
"cls": "Counter"
|
| 538 |
+
},
|
| 539 |
+
"stack_1_island_group_1_base": {
|
| 540 |
+
"cls": "Box"
|
| 541 |
+
},
|
| 542 |
+
"stack_1_island_group_1_1": {
|
| 543 |
+
"cls": "Drawer"
|
| 544 |
+
},
|
| 545 |
+
"stack_1_island_group_1_2": {
|
| 546 |
+
"cls": "Drawer"
|
| 547 |
+
},
|
| 548 |
+
"stack_2_island_group_1_base": {
|
| 549 |
+
"cls": "Box"
|
| 550 |
+
},
|
| 551 |
+
"stack_2_island_group_1_1": {
|
| 552 |
+
"cls": "Drawer"
|
| 553 |
+
},
|
| 554 |
+
"stack_2_island_group_1_2": {
|
| 555 |
+
"cls": "Drawer"
|
| 556 |
+
},
|
| 557 |
+
"stack_3_island_group_1_base": {
|
| 558 |
+
"cls": "Box"
|
| 559 |
+
},
|
| 560 |
+
"stack_3_island_group_1_1": {
|
| 561 |
+
"cls": "Drawer"
|
| 562 |
+
},
|
| 563 |
+
"stack_3_island_group_1_2": {
|
| 564 |
+
"cls": "Drawer"
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"gen_textures": {},
|
| 568 |
+
"lang": "Pick both bowls and place them on the counter. Then place the hotdog bun in one bowl and place the potato in the other bowl.",
|
| 569 |
+
"fixture_refs": {
|
| 570 |
+
"cab": "cab_1_main_group_1",
|
| 571 |
+
"counter": "counter_1_main_group_1"
|
| 572 |
+
},
|
| 573 |
+
"cam_configs": {
|
| 574 |
+
"robot0_agentview_center": {
|
| 575 |
+
"pos": [
|
| 576 |
+
-0.6,
|
| 577 |
+
0.0,
|
| 578 |
+
1.15
|
| 579 |
+
],
|
| 580 |
+
"quat": [
|
| 581 |
+
0.636945903301239,
|
| 582 |
+
0.3325185477733612,
|
| 583 |
+
-0.3199238181114197,
|
| 584 |
+
-0.6175596117973328
|
| 585 |
+
],
|
| 586 |
+
"parent_body": "mobilebase0_support"
|
| 587 |
+
},
|
| 588 |
+
"robot0_agentview_left": {
|
| 589 |
+
"pos": [
|
| 590 |
+
-0.5,
|
| 591 |
+
0.35,
|
| 592 |
+
1.05
|
| 593 |
+
],
|
| 594 |
+
"quat": [
|
| 595 |
+
0.55623853,
|
| 596 |
+
0.29935253,
|
| 597 |
+
-0.37678665,
|
| 598 |
+
-0.6775092
|
| 599 |
+
],
|
| 600 |
+
"camera_attribs": {
|
| 601 |
+
"fovy": "60"
|
| 602 |
+
},
|
| 603 |
+
"parent_body": "mobilebase0_support"
|
| 604 |
+
},
|
| 605 |
+
"robot0_agentview_right": {
|
| 606 |
+
"pos": [
|
| 607 |
+
-0.5,
|
| 608 |
+
-0.35,
|
| 609 |
+
1.05
|
| 610 |
+
],
|
| 611 |
+
"quat": [
|
| 612 |
+
0.6775091886520386,
|
| 613 |
+
0.3767866790294647,
|
| 614 |
+
-0.2993525564670563,
|
| 615 |
+
-0.55623859167099
|
| 616 |
+
],
|
| 617 |
+
"camera_attribs": {
|
| 618 |
+
"fovy": "60"
|
| 619 |
+
},
|
| 620 |
+
"parent_body": "mobilebase0_support"
|
| 621 |
+
},
|
| 622 |
+
"robot0_frontview": {
|
| 623 |
+
"pos": [
|
| 624 |
+
-0.5,
|
| 625 |
+
0,
|
| 626 |
+
0.95
|
| 627 |
+
],
|
| 628 |
+
"quat": [
|
| 629 |
+
0.6088936924934387,
|
| 630 |
+
0.3814677894115448,
|
| 631 |
+
-0.3673907518386841,
|
| 632 |
+
-0.5905545353889465
|
| 633 |
+
],
|
| 634 |
+
"camera_attribs": {
|
| 635 |
+
"fovy": "60"
|
| 636 |
+
},
|
| 637 |
+
"parent_body": "mobilebase0_support"
|
| 638 |
+
},
|
| 639 |
+
"robot0_eye_in_hand": {
|
| 640 |
+
"pos": [
|
| 641 |
+
0.05,
|
| 642 |
+
0,
|
| 643 |
+
0
|
| 644 |
+
],
|
| 645 |
+
"quat": [
|
| 646 |
+
0,
|
| 647 |
+
0.707107,
|
| 648 |
+
0.707107,
|
| 649 |
+
0
|
| 650 |
+
],
|
| 651 |
+
"parent_body": "robot0_right_hand"
|
| 652 |
+
}
|
| 653 |
+
},
|
| 654 |
+
"init_robot_base_pos": [
|
| 655 |
+
0.9053588638786774,
|
| 656 |
+
-0.7757011709543782,
|
| 657 |
+
0.0
|
| 658 |
+
],
|
| 659 |
+
"init_robot_base_ori": [
|
| 660 |
+
0.0,
|
| 661 |
+
0.0,
|
| 662 |
+
1.5707963267948966
|
| 663 |
+
]
|
| 664 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000020/ep_meta.json
ADDED
|
@@ -0,0 +1,602 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 42,
|
| 3 |
+
"style_id": 20,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_2_right_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"stackable",
|
| 26 |
+
"receptacle",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.592633,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_2_right_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"stackable",
|
| 72 |
+
"receptacle",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.592633,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_right_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_2_right_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.06515116499999997,
|
| 107 |
+
0.07499999999999997,
|
| 108 |
+
0.07032914699999997
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"lime",
|
| 125 |
+
"vegetable",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "lime",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
0.6810163900648144,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-0.7584,
|
| 143 |
+
-3.469446951953614e-17,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_right_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "hingecabinet_2_right_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.06408269139999999,
|
| 159 |
+
0.06382025779999997,
|
| 160 |
+
0.06412384874999996
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"peach",
|
| 177 |
+
"fruit",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "peach",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
0.6810163900648144,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
-0.7584,
|
| 195 |
+
-3.469446951953614e-17,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_1_right_group_1",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "hingecabinet_2_right_group_1",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.05139151424000001,
|
| 210 |
+
0.05252662272000002,
|
| 211 |
+
0.17534737968
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"bottled_water",
|
| 228 |
+
"drink"
|
| 229 |
+
],
|
| 230 |
+
"groups": [
|
| 231 |
+
"all"
|
| 232 |
+
],
|
| 233 |
+
"cat": "bottled_water",
|
| 234 |
+
"split": "train",
|
| 235 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_10/model.xml"
|
| 236 |
+
},
|
| 237 |
+
"reset_region": {
|
| 238 |
+
"size": [
|
| 239 |
+
0.6810163900648144,
|
| 240 |
+
0.65
|
| 241 |
+
],
|
| 242 |
+
"offset": [
|
| 243 |
+
-0.7584,
|
| 244 |
+
-3.469446951953614e-17,
|
| 245 |
+
0.46
|
| 246 |
+
],
|
| 247 |
+
"name": "geom_0"
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"fixtures": {
|
| 252 |
+
"wall_left_1_room": {
|
| 253 |
+
"cls": "Wall"
|
| 254 |
+
},
|
| 255 |
+
"wall_left_1_backing_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_main_1_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_main_1_backing_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_right_1_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_right_1_backing_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_main_2_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_main_2_backing_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_main_3_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"wall_main_3_backing_room": {
|
| 280 |
+
"cls": "Wall"
|
| 281 |
+
},
|
| 282 |
+
"wall_main_4_room": {
|
| 283 |
+
"cls": "Wall"
|
| 284 |
+
},
|
| 285 |
+
"wall_main_4_backing_room": {
|
| 286 |
+
"cls": "Wall"
|
| 287 |
+
},
|
| 288 |
+
"wall_left_2_room": {
|
| 289 |
+
"cls": "Wall"
|
| 290 |
+
},
|
| 291 |
+
"wall_left_2_backing_room": {
|
| 292 |
+
"cls": "Wall"
|
| 293 |
+
},
|
| 294 |
+
"floor_1_room": {
|
| 295 |
+
"cls": "Floor"
|
| 296 |
+
},
|
| 297 |
+
"floor_1_backing_room": {
|
| 298 |
+
"cls": "Floor"
|
| 299 |
+
},
|
| 300 |
+
"floor_2_room": {
|
| 301 |
+
"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
+
"floor_2_backing_room": {
|
| 304 |
+
"cls": "Floor"
|
| 305 |
+
},
|
| 306 |
+
"wallaccessory_room": {
|
| 307 |
+
"cls": "WallAccessory"
|
| 308 |
+
},
|
| 309 |
+
"lightswitch_room": {
|
| 310 |
+
"cls": "WallAccessory"
|
| 311 |
+
},
|
| 312 |
+
"wallaccessory.002_room": {
|
| 313 |
+
"cls": "WallAccessory"
|
| 314 |
+
},
|
| 315 |
+
"window_group_room": {
|
| 316 |
+
"cls": "Window"
|
| 317 |
+
},
|
| 318 |
+
"stool_1_room": {
|
| 319 |
+
"cls": "Stool"
|
| 320 |
+
},
|
| 321 |
+
"stool_2_room": {
|
| 322 |
+
"cls": "Stool"
|
| 323 |
+
},
|
| 324 |
+
"stool_4_room": {
|
| 325 |
+
"cls": "Stool"
|
| 326 |
+
},
|
| 327 |
+
"stool_3_room": {
|
| 328 |
+
"cls": "Stool"
|
| 329 |
+
},
|
| 330 |
+
"counter_1_main_group_1": {
|
| 331 |
+
"cls": "Counter"
|
| 332 |
+
},
|
| 333 |
+
"counter_corner_1_main_group_1": {
|
| 334 |
+
"cls": "Counter"
|
| 335 |
+
},
|
| 336 |
+
"stack_1_main_group_1_base": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_1_main_group_1_1": {
|
| 340 |
+
"cls": "HingeCabinet"
|
| 341 |
+
},
|
| 342 |
+
"cube_1_main_group_1": {
|
| 343 |
+
"cls": "Box"
|
| 344 |
+
},
|
| 345 |
+
"fridgefrenchdoor_main_group_1": {
|
| 346 |
+
"cls": "FridgeFrenchDoor"
|
| 347 |
+
},
|
| 348 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 349 |
+
"cls": "HousingCabinet"
|
| 350 |
+
},
|
| 351 |
+
"hingecabinet_1_main_group_1": {
|
| 352 |
+
"cls": "HingeCabinet"
|
| 353 |
+
},
|
| 354 |
+
"coffeemachine_main_group_1": {
|
| 355 |
+
"cls": "CoffeeMachine"
|
| 356 |
+
},
|
| 357 |
+
"papertowel_main_group_1": {
|
| 358 |
+
"cls": "Accessory"
|
| 359 |
+
},
|
| 360 |
+
"stovetop_right_group_1": {
|
| 361 |
+
"cls": "Stovetop"
|
| 362 |
+
},
|
| 363 |
+
"counter_1_right_group_1": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"hingecabinet_3_right_group_1": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"hingecabinet_4_right_group_1": {
|
| 370 |
+
"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
+
"hingecabinet_1_right_group_1": {
|
| 373 |
+
"cls": "HingeCabinet"
|
| 374 |
+
},
|
| 375 |
+
"hingecabinet_2_right_group_1": {
|
| 376 |
+
"cls": "HingeCabinet"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_right_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_right_group_1_1": {
|
| 382 |
+
"cls": "SingleCabinet"
|
| 383 |
+
},
|
| 384 |
+
"stack_2_right_group_1_base": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_right_group_1_1": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_right_group_1_2": {
|
| 391 |
+
"cls": "Drawer"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_right_group_1_3": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_3_right_group_1_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_right_group_1_1": {
|
| 400 |
+
"cls": "Drawer"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_right_group_1_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_right_group_1_3": {
|
| 406 |
+
"cls": "PanelCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_4_right_group_1_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_4_right_group_1_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"stack_4_right_group_1_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"cube_1_right_group_1": {
|
| 418 |
+
"cls": "Box"
|
| 419 |
+
},
|
| 420 |
+
"bottom_right_group_1_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"bottom_right_group_1_1": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"oven_right_group_1": {
|
| 427 |
+
"cls": "Oven"
|
| 428 |
+
},
|
| 429 |
+
"oven_housing_right_group_1": {
|
| 430 |
+
"cls": "HousingCabinet"
|
| 431 |
+
},
|
| 432 |
+
"microwave_right_group_1": {
|
| 433 |
+
"cls": "Microwave"
|
| 434 |
+
},
|
| 435 |
+
"microwave_housing_right_group_1": {
|
| 436 |
+
"cls": "HousingCabinet"
|
| 437 |
+
},
|
| 438 |
+
"top_right_group_1": {
|
| 439 |
+
"cls": "HingeCabinet"
|
| 440 |
+
},
|
| 441 |
+
"toaster_right_group_1": {
|
| 442 |
+
"cls": "Toaster"
|
| 443 |
+
},
|
| 444 |
+
"counter_1_left_group_1": {
|
| 445 |
+
"cls": "Counter"
|
| 446 |
+
},
|
| 447 |
+
"stack_1_left_group_1_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_1_left_group_1_1": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"stack_2_left_group_1_base": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"stack_2_left_group_1_1": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"knifeblock_left_group_1": {
|
| 460 |
+
"cls": "Accessory"
|
| 461 |
+
},
|
| 462 |
+
"toaster_oven_left_group_1": {
|
| 463 |
+
"cls": "ToasterOven"
|
| 464 |
+
},
|
| 465 |
+
"plant_left_group_1": {
|
| 466 |
+
"cls": "Accessory"
|
| 467 |
+
},
|
| 468 |
+
"cube_1_island_group_1": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"cube_2_island_group_1": {
|
| 472 |
+
"cls": "Box"
|
| 473 |
+
},
|
| 474 |
+
"cube_3_island_group_1": {
|
| 475 |
+
"cls": "Box"
|
| 476 |
+
},
|
| 477 |
+
"sink_island_group_1": {
|
| 478 |
+
"cls": "Sink"
|
| 479 |
+
},
|
| 480 |
+
"island_island_group_1": {
|
| 481 |
+
"cls": "Counter"
|
| 482 |
+
},
|
| 483 |
+
"stack_1_island_group_1_base": {
|
| 484 |
+
"cls": "Box"
|
| 485 |
+
},
|
| 486 |
+
"stack_1_island_group_1_1": {
|
| 487 |
+
"cls": "SingleCabinet"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_island_group_1_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_island_group_1_1": {
|
| 493 |
+
"cls": "SingleCabinet"
|
| 494 |
+
},
|
| 495 |
+
"stack_2_island_group_1_base": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"stack_2_island_group_1_1": {
|
| 499 |
+
"cls": "HingeCabinet"
|
| 500 |
+
},
|
| 501 |
+
"dishwasher_1_island_group_1": {
|
| 502 |
+
"cls": "Dishwasher"
|
| 503 |
+
}
|
| 504 |
+
},
|
| 505 |
+
"gen_textures": {},
|
| 506 |
+
"lang": "Pick both bowls and place them on the counter. Then place the lime in one bowl and place the peach in the other bowl.",
|
| 507 |
+
"fixture_refs": {
|
| 508 |
+
"cab": "hingecabinet_2_right_group_1",
|
| 509 |
+
"counter": "counter_1_right_group_1"
|
| 510 |
+
},
|
| 511 |
+
"cam_configs": {
|
| 512 |
+
"robot0_agentview_center": {
|
| 513 |
+
"pos": [
|
| 514 |
+
-0.6,
|
| 515 |
+
0.0,
|
| 516 |
+
1.15
|
| 517 |
+
],
|
| 518 |
+
"quat": [
|
| 519 |
+
0.636945903301239,
|
| 520 |
+
0.3325185477733612,
|
| 521 |
+
-0.3199238181114197,
|
| 522 |
+
-0.6175596117973328
|
| 523 |
+
],
|
| 524 |
+
"parent_body": "mobilebase0_support"
|
| 525 |
+
},
|
| 526 |
+
"robot0_agentview_left": {
|
| 527 |
+
"pos": [
|
| 528 |
+
-0.5,
|
| 529 |
+
0.35,
|
| 530 |
+
1.05
|
| 531 |
+
],
|
| 532 |
+
"quat": [
|
| 533 |
+
0.55623853,
|
| 534 |
+
0.29935253,
|
| 535 |
+
-0.37678665,
|
| 536 |
+
-0.6775092
|
| 537 |
+
],
|
| 538 |
+
"camera_attribs": {
|
| 539 |
+
"fovy": "60"
|
| 540 |
+
},
|
| 541 |
+
"parent_body": "mobilebase0_support"
|
| 542 |
+
},
|
| 543 |
+
"robot0_agentview_right": {
|
| 544 |
+
"pos": [
|
| 545 |
+
-0.5,
|
| 546 |
+
-0.35,
|
| 547 |
+
1.05
|
| 548 |
+
],
|
| 549 |
+
"quat": [
|
| 550 |
+
0.6775091886520386,
|
| 551 |
+
0.3767866790294647,
|
| 552 |
+
-0.2993525564670563,
|
| 553 |
+
-0.55623859167099
|
| 554 |
+
],
|
| 555 |
+
"camera_attribs": {
|
| 556 |
+
"fovy": "60"
|
| 557 |
+
},
|
| 558 |
+
"parent_body": "mobilebase0_support"
|
| 559 |
+
},
|
| 560 |
+
"robot0_frontview": {
|
| 561 |
+
"pos": [
|
| 562 |
+
-0.5,
|
| 563 |
+
0,
|
| 564 |
+
0.95
|
| 565 |
+
],
|
| 566 |
+
"quat": [
|
| 567 |
+
0.6088936924934387,
|
| 568 |
+
0.3814677894115448,
|
| 569 |
+
-0.3673907518386841,
|
| 570 |
+
-0.5905545353889465
|
| 571 |
+
],
|
| 572 |
+
"camera_attribs": {
|
| 573 |
+
"fovy": "60"
|
| 574 |
+
},
|
| 575 |
+
"parent_body": "mobilebase0_support"
|
| 576 |
+
},
|
| 577 |
+
"robot0_eye_in_hand": {
|
| 578 |
+
"pos": [
|
| 579 |
+
0.05,
|
| 580 |
+
0,
|
| 581 |
+
0
|
| 582 |
+
],
|
| 583 |
+
"quat": [
|
| 584 |
+
0,
|
| 585 |
+
0.707107,
|
| 586 |
+
0.707107,
|
| 587 |
+
0
|
| 588 |
+
],
|
| 589 |
+
"parent_body": "robot0_right_hand"
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"init_robot_base_pos": [
|
| 593 |
+
4.3932177337157965,
|
| 594 |
+
-1.283196021007771,
|
| 595 |
+
0.0
|
| 596 |
+
],
|
| 597 |
+
"init_robot_base_ori": [
|
| 598 |
+
0.0,
|
| 599 |
+
0.0,
|
| 600 |
+
0.00030199704781619374
|
| 601 |
+
]
|
| 602 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000021/ep_meta.json
ADDED
|
@@ -0,0 +1,643 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 56,
|
| 3 |
+
"style_id": 53,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_5_main_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"stackable",
|
| 26 |
+
"receptacle",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
1.227805,
|
| 45 |
+
0.309141
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_5_main_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"stackable",
|
| 72 |
+
"receptacle",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
1.227805,
|
| 91 |
+
0.309141
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_3_main_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_5_main_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.05704048680000002,
|
| 107 |
+
0.059094555600000015,
|
| 108 |
+
0.052538282400000004
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"tangerine",
|
| 125 |
+
"fruit",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "tangerine",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
1.2877069999999988,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-0.46400000000000063,
|
| 143 |
+
0.0,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_3_main_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "hingecabinet_5_main_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.0587092272,
|
| 159 |
+
0.12123810348934207,
|
| 160 |
+
0.06071863479918593
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"pear",
|
| 177 |
+
"fruit",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "pear",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
1.2877069999999988,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
-0.46400000000000063,
|
| 195 |
+
0.0,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_3_main_group_1",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "hingecabinet_5_main_group_1",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.133751,
|
| 210 |
+
0.025651824999999996,
|
| 211 |
+
0.02516305
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"cream_cheese_stick",
|
| 228 |
+
"dairy",
|
| 229 |
+
"food",
|
| 230 |
+
"in_container"
|
| 231 |
+
],
|
| 232 |
+
"groups": [
|
| 233 |
+
"all"
|
| 234 |
+
],
|
| 235 |
+
"cat": "cream_cheese_stick",
|
| 236 |
+
"split": "train",
|
| 237 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick006/model.xml"
|
| 238 |
+
},
|
| 239 |
+
"reset_region": {
|
| 240 |
+
"size": [
|
| 241 |
+
1.2877069999999988,
|
| 242 |
+
0.65
|
| 243 |
+
],
|
| 244 |
+
"offset": [
|
| 245 |
+
-0.46400000000000063,
|
| 246 |
+
0.0,
|
| 247 |
+
0.46
|
| 248 |
+
],
|
| 249 |
+
"name": "geom_0"
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
],
|
| 253 |
+
"fixtures": {
|
| 254 |
+
"wall_main_1_room": {
|
| 255 |
+
"cls": "Wall"
|
| 256 |
+
},
|
| 257 |
+
"wall_main_1_backing_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_right_1_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_right_1_backing_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"floor_1_room": {
|
| 267 |
+
"cls": "Floor"
|
| 268 |
+
},
|
| 269 |
+
"floor_1_backing_room": {
|
| 270 |
+
"cls": "Floor"
|
| 271 |
+
},
|
| 272 |
+
"wallaccessory_1_room": {
|
| 273 |
+
"cls": "WallAccessory"
|
| 274 |
+
},
|
| 275 |
+
"wallaccessory_2_room": {
|
| 276 |
+
"cls": "WallAccessory"
|
| 277 |
+
},
|
| 278 |
+
"wallaccessory_3_room": {
|
| 279 |
+
"cls": "WallAccessory"
|
| 280 |
+
},
|
| 281 |
+
"wallaccessory_4_room": {
|
| 282 |
+
"cls": "WallAccessory"
|
| 283 |
+
},
|
| 284 |
+
"lightswitch_02_room": {
|
| 285 |
+
"cls": "WallAccessory"
|
| 286 |
+
},
|
| 287 |
+
"lightswitch_03_room": {
|
| 288 |
+
"cls": "WallAccessory"
|
| 289 |
+
},
|
| 290 |
+
"stool_3_room": {
|
| 291 |
+
"cls": "Stool"
|
| 292 |
+
},
|
| 293 |
+
"stool_2_room": {
|
| 294 |
+
"cls": "Stool"
|
| 295 |
+
},
|
| 296 |
+
"stool_1_room": {
|
| 297 |
+
"cls": "Stool"
|
| 298 |
+
},
|
| 299 |
+
"stack_13_island_group_2_base": {
|
| 300 |
+
"cls": "Box"
|
| 301 |
+
},
|
| 302 |
+
"stack_13_island_group_2_1": {
|
| 303 |
+
"cls": "HingeCabinet"
|
| 304 |
+
},
|
| 305 |
+
"stack_04_island_group_2_base": {
|
| 306 |
+
"cls": "Box"
|
| 307 |
+
},
|
| 308 |
+
"stack_04_island_group_2_1": {
|
| 309 |
+
"cls": "HingeCabinet"
|
| 310 |
+
},
|
| 311 |
+
"stack_12_island_group_2_base": {
|
| 312 |
+
"cls": "Box"
|
| 313 |
+
},
|
| 314 |
+
"stack_12_island_group_2_1": {
|
| 315 |
+
"cls": "HingeCabinet"
|
| 316 |
+
},
|
| 317 |
+
"singlecabinet_2_main_group_1": {
|
| 318 |
+
"cls": "SingleCabinet"
|
| 319 |
+
},
|
| 320 |
+
"hingecabinet_5_main_group_1": {
|
| 321 |
+
"cls": "HingeCabinet"
|
| 322 |
+
},
|
| 323 |
+
"hingecabinet_4_main_group_1": {
|
| 324 |
+
"cls": "HingeCabinet"
|
| 325 |
+
},
|
| 326 |
+
"opencabinet_2_main_group_1": {
|
| 327 |
+
"cls": "OpenCabinet"
|
| 328 |
+
},
|
| 329 |
+
"opencabinet_3_main_group_1": {
|
| 330 |
+
"cls": "OpenCabinet"
|
| 331 |
+
},
|
| 332 |
+
"counter_2_main_group_1": {
|
| 333 |
+
"cls": "Counter"
|
| 334 |
+
},
|
| 335 |
+
"counter_corner_1_main_group_1": {
|
| 336 |
+
"cls": "Counter"
|
| 337 |
+
},
|
| 338 |
+
"counter_3_main_group_1": {
|
| 339 |
+
"cls": "Counter"
|
| 340 |
+
},
|
| 341 |
+
"stove_main_group_1": {
|
| 342 |
+
"cls": "Stove"
|
| 343 |
+
},
|
| 344 |
+
"stove_hood_main_group_1": {
|
| 345 |
+
"cls": "Hood"
|
| 346 |
+
},
|
| 347 |
+
"cube_4_main_group_1": {
|
| 348 |
+
"cls": "Box"
|
| 349 |
+
},
|
| 350 |
+
"stack_11_main_group_1_base": {
|
| 351 |
+
"cls": "Box"
|
| 352 |
+
},
|
| 353 |
+
"stack_11_main_group_1_1": {
|
| 354 |
+
"cls": "SingleCabinet"
|
| 355 |
+
},
|
| 356 |
+
"stack_03_main_group_1_base": {
|
| 357 |
+
"cls": "Box"
|
| 358 |
+
},
|
| 359 |
+
"stack_03_main_group_1_1": {
|
| 360 |
+
"cls": "HingeCabinet"
|
| 361 |
+
},
|
| 362 |
+
"stack_03_main_group_1_2": {
|
| 363 |
+
"cls": "Drawer"
|
| 364 |
+
},
|
| 365 |
+
"stack_02_main_group_1_base": {
|
| 366 |
+
"cls": "Box"
|
| 367 |
+
},
|
| 368 |
+
"stack_02_main_group_1_1": {
|
| 369 |
+
"cls": "SingleCabinet"
|
| 370 |
+
},
|
| 371 |
+
"stack_04_main_group_1_base": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"stack_04_main_group_1_1": {
|
| 375 |
+
"cls": "Drawer"
|
| 376 |
+
},
|
| 377 |
+
"stack_04_main_group_1_2": {
|
| 378 |
+
"cls": "Drawer"
|
| 379 |
+
},
|
| 380 |
+
"stack_04_main_group_1_3": {
|
| 381 |
+
"cls": "Drawer"
|
| 382 |
+
},
|
| 383 |
+
"stack_08_main_group_1_base": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"stack_08_main_group_1_1": {
|
| 387 |
+
"cls": "HingeCabinet"
|
| 388 |
+
},
|
| 389 |
+
"stack_08_main_group_1_2": {
|
| 390 |
+
"cls": "Drawer"
|
| 391 |
+
},
|
| 392 |
+
"stack_06_main_group_1_base": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"stack_06_main_group_1_1": {
|
| 396 |
+
"cls": "SingleCabinet"
|
| 397 |
+
},
|
| 398 |
+
"stack_07_main_group_1_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_07_main_group_1_1": {
|
| 402 |
+
"cls": "Drawer"
|
| 403 |
+
},
|
| 404 |
+
"stack_07_main_group_1_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"stack_07_main_group_1_3": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"cube_8_main_group_1": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"coffee_machine_main_group_1": {
|
| 414 |
+
"cls": "CoffeeMachine"
|
| 415 |
+
},
|
| 416 |
+
"papertowel_main_group_1": {
|
| 417 |
+
"cls": "Accessory"
|
| 418 |
+
},
|
| 419 |
+
"plant_main_group_1": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"toaster_oven_main_group_1": {
|
| 423 |
+
"cls": "ToasterOven"
|
| 424 |
+
},
|
| 425 |
+
"singlecabinet_1_right_group_1": {
|
| 426 |
+
"cls": "SingleCabinet"
|
| 427 |
+
},
|
| 428 |
+
"hingecabinet_1_right_group_1": {
|
| 429 |
+
"cls": "HingeCabinet"
|
| 430 |
+
},
|
| 431 |
+
"hingecabinet_9_right_group_1": {
|
| 432 |
+
"cls": "HingeCabinet"
|
| 433 |
+
},
|
| 434 |
+
"counter_1_right_group_1": {
|
| 435 |
+
"cls": "Counter"
|
| 436 |
+
},
|
| 437 |
+
"counter_8_right_group_1": {
|
| 438 |
+
"cls": "Counter"
|
| 439 |
+
},
|
| 440 |
+
"stack_6_right_group_1_base": {
|
| 441 |
+
"cls": "Box"
|
| 442 |
+
},
|
| 443 |
+
"stack_6_right_group_1_1": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"stack_6_right_group_1_2": {
|
| 447 |
+
"cls": "HingeCabinet"
|
| 448 |
+
},
|
| 449 |
+
"stack_4_right_group_1_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_4_right_group_1_1": {
|
| 453 |
+
"cls": "SingleCabinet"
|
| 454 |
+
},
|
| 455 |
+
"cube_11_right_group_1": {
|
| 456 |
+
"cls": "Box"
|
| 457 |
+
},
|
| 458 |
+
"stack_7_right_group_1_base": {
|
| 459 |
+
"cls": "Box"
|
| 460 |
+
},
|
| 461 |
+
"stack_7_right_group_1_1": {
|
| 462 |
+
"cls": "HingeCabinet"
|
| 463 |
+
},
|
| 464 |
+
"stack_7_right_group_1_2": {
|
| 465 |
+
"cls": "Drawer"
|
| 466 |
+
},
|
| 467 |
+
"cube_12_right_group_1": {
|
| 468 |
+
"cls": "Box"
|
| 469 |
+
},
|
| 470 |
+
"fridgefrenchdoor_right_group_1": {
|
| 471 |
+
"cls": "FridgeFrenchDoor"
|
| 472 |
+
},
|
| 473 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 474 |
+
"cls": "HousingCabinet"
|
| 475 |
+
},
|
| 476 |
+
"bottom_right_group_1_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"bottom_right_group_1_1": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"oven_cabinet_right_group_1": {
|
| 483 |
+
"cls": "HingeCabinet"
|
| 484 |
+
},
|
| 485 |
+
"microwave_right_group_1": {
|
| 486 |
+
"cls": "Microwave"
|
| 487 |
+
},
|
| 488 |
+
"microwave_housing_right_group_1": {
|
| 489 |
+
"cls": "HousingCabinet"
|
| 490 |
+
},
|
| 491 |
+
"top_right_group_1": {
|
| 492 |
+
"cls": "HingeCabinet"
|
| 493 |
+
},
|
| 494 |
+
"hingecabinet_2_right_group_1": {
|
| 495 |
+
"cls": "HingeCabinet"
|
| 496 |
+
},
|
| 497 |
+
"toaster_right_group_1": {
|
| 498 |
+
"cls": "Toaster"
|
| 499 |
+
},
|
| 500 |
+
"sink_island_group_1": {
|
| 501 |
+
"cls": "Sink"
|
| 502 |
+
},
|
| 503 |
+
"island_island_group_1": {
|
| 504 |
+
"cls": "Counter"
|
| 505 |
+
},
|
| 506 |
+
"stack_11_island_group_1_base": {
|
| 507 |
+
"cls": "Box"
|
| 508 |
+
},
|
| 509 |
+
"stack_11_island_group_1_1": {
|
| 510 |
+
"cls": "HingeCabinet"
|
| 511 |
+
},
|
| 512 |
+
"stack_11_island_group_1_2": {
|
| 513 |
+
"cls": "PanelCabinet"
|
| 514 |
+
},
|
| 515 |
+
"stack_09_island_group_1_base": {
|
| 516 |
+
"cls": "Box"
|
| 517 |
+
},
|
| 518 |
+
"stack_09_island_group_1_1": {
|
| 519 |
+
"cls": "Drawer"
|
| 520 |
+
},
|
| 521 |
+
"stack_09_island_group_1_2": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"stack_09_island_group_1_3": {
|
| 525 |
+
"cls": "Drawer"
|
| 526 |
+
},
|
| 527 |
+
"stack_10_island_group_1_base": {
|
| 528 |
+
"cls": "Box"
|
| 529 |
+
},
|
| 530 |
+
"stack_10_island_group_1_1": {
|
| 531 |
+
"cls": "SingleCabinet"
|
| 532 |
+
},
|
| 533 |
+
"stack_10_island_group_1_2": {
|
| 534 |
+
"cls": "Drawer"
|
| 535 |
+
},
|
| 536 |
+
"dishwasher_1_island_group_1": {
|
| 537 |
+
"cls": "Dishwasher"
|
| 538 |
+
},
|
| 539 |
+
"cube_1_island_group_1": {
|
| 540 |
+
"cls": "Box"
|
| 541 |
+
},
|
| 542 |
+
"cube_2_island_group_1": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"gen_textures": {},
|
| 547 |
+
"lang": "Pick both bowls and place them on the counter. Then place the tangerine in one bowl and place the pear in the other bowl.",
|
| 548 |
+
"fixture_refs": {
|
| 549 |
+
"cab": "hingecabinet_5_main_group_1",
|
| 550 |
+
"counter": "counter_3_main_group_1"
|
| 551 |
+
},
|
| 552 |
+
"cam_configs": {
|
| 553 |
+
"robot0_agentview_center": {
|
| 554 |
+
"pos": [
|
| 555 |
+
-0.6,
|
| 556 |
+
0.0,
|
| 557 |
+
1.15
|
| 558 |
+
],
|
| 559 |
+
"quat": [
|
| 560 |
+
0.636945903301239,
|
| 561 |
+
0.3325185477733612,
|
| 562 |
+
-0.3199238181114197,
|
| 563 |
+
-0.6175596117973328
|
| 564 |
+
],
|
| 565 |
+
"parent_body": "mobilebase0_support"
|
| 566 |
+
},
|
| 567 |
+
"robot0_agentview_left": {
|
| 568 |
+
"pos": [
|
| 569 |
+
-0.5,
|
| 570 |
+
0.35,
|
| 571 |
+
1.05
|
| 572 |
+
],
|
| 573 |
+
"quat": [
|
| 574 |
+
0.55623853,
|
| 575 |
+
0.29935253,
|
| 576 |
+
-0.37678665,
|
| 577 |
+
-0.6775092
|
| 578 |
+
],
|
| 579 |
+
"camera_attribs": {
|
| 580 |
+
"fovy": "60"
|
| 581 |
+
},
|
| 582 |
+
"parent_body": "mobilebase0_support"
|
| 583 |
+
},
|
| 584 |
+
"robot0_agentview_right": {
|
| 585 |
+
"pos": [
|
| 586 |
+
-0.5,
|
| 587 |
+
-0.35,
|
| 588 |
+
1.05
|
| 589 |
+
],
|
| 590 |
+
"quat": [
|
| 591 |
+
0.6775091886520386,
|
| 592 |
+
0.3767866790294647,
|
| 593 |
+
-0.2993525564670563,
|
| 594 |
+
-0.55623859167099
|
| 595 |
+
],
|
| 596 |
+
"camera_attribs": {
|
| 597 |
+
"fovy": "60"
|
| 598 |
+
},
|
| 599 |
+
"parent_body": "mobilebase0_support"
|
| 600 |
+
},
|
| 601 |
+
"robot0_frontview": {
|
| 602 |
+
"pos": [
|
| 603 |
+
-0.5,
|
| 604 |
+
0,
|
| 605 |
+
0.95
|
| 606 |
+
],
|
| 607 |
+
"quat": [
|
| 608 |
+
0.6088936924934387,
|
| 609 |
+
0.3814677894115448,
|
| 610 |
+
-0.3673907518386841,
|
| 611 |
+
-0.5905545353889465
|
| 612 |
+
],
|
| 613 |
+
"camera_attribs": {
|
| 614 |
+
"fovy": "60"
|
| 615 |
+
},
|
| 616 |
+
"parent_body": "mobilebase0_support"
|
| 617 |
+
},
|
| 618 |
+
"robot0_eye_in_hand": {
|
| 619 |
+
"pos": [
|
| 620 |
+
0.05,
|
| 621 |
+
0,
|
| 622 |
+
0
|
| 623 |
+
],
|
| 624 |
+
"quat": [
|
| 625 |
+
0,
|
| 626 |
+
0.707107,
|
| 627 |
+
0.707107,
|
| 628 |
+
0
|
| 629 |
+
],
|
| 630 |
+
"parent_body": "robot0_right_hand"
|
| 631 |
+
}
|
| 632 |
+
},
|
| 633 |
+
"init_robot_base_pos": [
|
| 634 |
+
0.8943724824318952,
|
| 635 |
+
-0.8108492858949214,
|
| 636 |
+
0.0
|
| 637 |
+
],
|
| 638 |
+
"init_robot_base_ori": [
|
| 639 |
+
0.0,
|
| 640 |
+
0.0,
|
| 641 |
+
1.57064844767067
|
| 642 |
+
]
|
| 643 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000022/ep_meta.json
ADDED
|
@@ -0,0 +1,605 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 27,
|
| 3 |
+
"style_id": 45,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_1_main_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.74,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_1_main_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.74,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_1_main_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.07388735999999997,
|
| 107 |
+
0.09999999999999996,
|
| 108 |
+
0.07365630199999997
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"potato",
|
| 125 |
+
"vegetable",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"food_set1",
|
| 129 |
+
"oven_ready"
|
| 130 |
+
],
|
| 131 |
+
"groups": [
|
| 132 |
+
"food"
|
| 133 |
+
],
|
| 134 |
+
"cat": "potato",
|
| 135 |
+
"split": "train",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml"
|
| 137 |
+
},
|
| 138 |
+
"reset_region": {
|
| 139 |
+
"size": [
|
| 140 |
+
0.8000000000000016,
|
| 141 |
+
0.65
|
| 142 |
+
],
|
| 143 |
+
"offset": [
|
| 144 |
+
0.8599999999999994,
|
| 145 |
+
-3.469446951953614e-17,
|
| 146 |
+
0.46
|
| 147 |
+
],
|
| 148 |
+
"name": "geom_0"
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"name": "food2",
|
| 153 |
+
"obj_groups": "food",
|
| 154 |
+
"graspable": true,
|
| 155 |
+
"placement": {
|
| 156 |
+
"fixture": "counter_1_main_group",
|
| 157 |
+
"sample_region_kwargs": {
|
| 158 |
+
"ref": "cab_1_main_group",
|
| 159 |
+
"min_size": [
|
| 160 |
+
0.06147772049999999,
|
| 161 |
+
0.08868493147499999,
|
| 162 |
+
0.0641568332475
|
| 163 |
+
]
|
| 164 |
+
},
|
| 165 |
+
"size": [
|
| 166 |
+
0.6,
|
| 167 |
+
0.3
|
| 168 |
+
],
|
| 169 |
+
"pos": [
|
| 170 |
+
"ref",
|
| 171 |
+
-1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"type": "object",
|
| 175 |
+
"info": {
|
| 176 |
+
"groups_containing_sampled_obj": [
|
| 177 |
+
"all",
|
| 178 |
+
"mango",
|
| 179 |
+
"fruit",
|
| 180 |
+
"food",
|
| 181 |
+
"in_container"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
+
"food"
|
| 185 |
+
],
|
| 186 |
+
"cat": "mango",
|
| 187 |
+
"split": "train",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml"
|
| 189 |
+
},
|
| 190 |
+
"reset_region": {
|
| 191 |
+
"size": [
|
| 192 |
+
0.8000000000000016,
|
| 193 |
+
0.65
|
| 194 |
+
],
|
| 195 |
+
"offset": [
|
| 196 |
+
0.8599999999999994,
|
| 197 |
+
-3.469446951953614e-17,
|
| 198 |
+
0.46
|
| 199 |
+
],
|
| 200 |
+
"name": "geom_0"
|
| 201 |
+
}
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "distr_counter",
|
| 205 |
+
"obj_groups": "all",
|
| 206 |
+
"placement": {
|
| 207 |
+
"fixture": "counter_1_main_group",
|
| 208 |
+
"sample_region_kwargs": {
|
| 209 |
+
"ref": "cab_1_main_group",
|
| 210 |
+
"min_size": [
|
| 211 |
+
0.094732,
|
| 212 |
+
0.094042,
|
| 213 |
+
0.11063924
|
| 214 |
+
]
|
| 215 |
+
},
|
| 216 |
+
"size": [
|
| 217 |
+
0.5,
|
| 218 |
+
0.2
|
| 219 |
+
],
|
| 220 |
+
"pos": [
|
| 221 |
+
"ref",
|
| 222 |
+
1.0
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"type": "object",
|
| 226 |
+
"info": {
|
| 227 |
+
"groups_containing_sampled_obj": [
|
| 228 |
+
"all",
|
| 229 |
+
"glass_cup",
|
| 230 |
+
"receptacle",
|
| 231 |
+
"stackable"
|
| 232 |
+
],
|
| 233 |
+
"groups": [
|
| 234 |
+
"all"
|
| 235 |
+
],
|
| 236 |
+
"cat": "glass_cup",
|
| 237 |
+
"split": "train",
|
| 238 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml"
|
| 239 |
+
},
|
| 240 |
+
"reset_region": {
|
| 241 |
+
"size": [
|
| 242 |
+
0.8000000000000016,
|
| 243 |
+
0.65
|
| 244 |
+
],
|
| 245 |
+
"offset": [
|
| 246 |
+
0.8599999999999994,
|
| 247 |
+
-3.469446951953614e-17,
|
| 248 |
+
0.46
|
| 249 |
+
],
|
| 250 |
+
"name": "geom_0"
|
| 251 |
+
}
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"fixtures": {
|
| 255 |
+
"wall_left_1_room": {
|
| 256 |
+
"cls": "Wall"
|
| 257 |
+
},
|
| 258 |
+
"wall_left_1_backing_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_main_1_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_main_1_backing_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_right_1_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_right_1_backing_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_main_2_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"wall_main_2_backing_room": {
|
| 277 |
+
"cls": "Wall"
|
| 278 |
+
},
|
| 279 |
+
"floor_1_room": {
|
| 280 |
+
"cls": "Floor"
|
| 281 |
+
},
|
| 282 |
+
"floor_1_backing_room": {
|
| 283 |
+
"cls": "Floor"
|
| 284 |
+
},
|
| 285 |
+
"floor_2_room": {
|
| 286 |
+
"cls": "Floor"
|
| 287 |
+
},
|
| 288 |
+
"floor_2_backing_room": {
|
| 289 |
+
"cls": "Floor"
|
| 290 |
+
},
|
| 291 |
+
"wall_accessory_1_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"wall_accessory_2_room": {
|
| 295 |
+
"cls": "WallAccessory"
|
| 296 |
+
},
|
| 297 |
+
"wall_accessory_3_room": {
|
| 298 |
+
"cls": "WallAccessory"
|
| 299 |
+
},
|
| 300 |
+
"wall_accessory_4_room": {
|
| 301 |
+
"cls": "WallAccessory"
|
| 302 |
+
},
|
| 303 |
+
"light_switch_1_room": {
|
| 304 |
+
"cls": "WallAccessory"
|
| 305 |
+
},
|
| 306 |
+
"window_group_1_room": {
|
| 307 |
+
"cls": "Window"
|
| 308 |
+
},
|
| 309 |
+
"window_group_2_room": {
|
| 310 |
+
"cls": "Window"
|
| 311 |
+
},
|
| 312 |
+
"window_group_3_room": {
|
| 313 |
+
"cls": "Window"
|
| 314 |
+
},
|
| 315 |
+
"window_group_4_room": {
|
| 316 |
+
"cls": "Window"
|
| 317 |
+
},
|
| 318 |
+
"stool_1_room": {
|
| 319 |
+
"cls": "Stool"
|
| 320 |
+
},
|
| 321 |
+
"stool_2_room": {
|
| 322 |
+
"cls": "Stool"
|
| 323 |
+
},
|
| 324 |
+
"stool_3_room": {
|
| 325 |
+
"cls": "Stool"
|
| 326 |
+
},
|
| 327 |
+
"counter_corner_main_group": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
+
},
|
| 330 |
+
"sink_1_main_group": {
|
| 331 |
+
"cls": "Sink"
|
| 332 |
+
},
|
| 333 |
+
"counter_1_main_group": {
|
| 334 |
+
"cls": "Counter"
|
| 335 |
+
},
|
| 336 |
+
"box_main_group": {
|
| 337 |
+
"cls": "Box"
|
| 338 |
+
},
|
| 339 |
+
"stack_1_main_group_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_1_main_group_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_2_main_group_base": {
|
| 346 |
+
"cls": "Box"
|
| 347 |
+
},
|
| 348 |
+
"stack_2_main_group_1": {
|
| 349 |
+
"cls": "SingleCabinet"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_main_group_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_3_main_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"stack_3_main_group_2": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
+
"stack_3_main_group_3": {
|
| 361 |
+
"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
+
"stack_4_main_group_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"stack_4_main_group_1": {
|
| 367 |
+
"cls": "SingleCabinet"
|
| 368 |
+
},
|
| 369 |
+
"stack_4_main_group_2": {
|
| 370 |
+
"cls": "SingleCabinet"
|
| 371 |
+
},
|
| 372 |
+
"bottom_main_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"bottom_main_group_1": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"middle_main_group": {
|
| 379 |
+
"cls": "HingeCabinet"
|
| 380 |
+
},
|
| 381 |
+
"microwave_main_group": {
|
| 382 |
+
"cls": "Microwave"
|
| 383 |
+
},
|
| 384 |
+
"microwave_housing_main_group": {
|
| 385 |
+
"cls": "HousingCabinet"
|
| 386 |
+
},
|
| 387 |
+
"top_main_group": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"cab_1_main_group": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"cab_2_main_group": {
|
| 394 |
+
"cls": "SingleCabinet"
|
| 395 |
+
},
|
| 396 |
+
"toaster_main_group": {
|
| 397 |
+
"cls": "Toaster"
|
| 398 |
+
},
|
| 399 |
+
"paper_towel_main_group": {
|
| 400 |
+
"cls": "Accessory"
|
| 401 |
+
},
|
| 402 |
+
"counter_1_left_group": {
|
| 403 |
+
"cls": "Counter"
|
| 404 |
+
},
|
| 405 |
+
"stack_1_left_group_base": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_left_group_1": {
|
| 409 |
+
"cls": "SingleCabinet"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_left_group_2": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"stack_2_left_group_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
+
},
|
| 417 |
+
"stack_2_left_group_1": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_2_left_group_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_left_group_3": {
|
| 424 |
+
"cls": "Drawer"
|
| 425 |
+
},
|
| 426 |
+
"dishwasher_left_group": {
|
| 427 |
+
"cls": "Dishwasher"
|
| 428 |
+
},
|
| 429 |
+
"box_left_group": {
|
| 430 |
+
"cls": "Box"
|
| 431 |
+
},
|
| 432 |
+
"fridge_left_group": {
|
| 433 |
+
"cls": "FridgeBottomFreezer"
|
| 434 |
+
},
|
| 435 |
+
"fridge_housing_left_group": {
|
| 436 |
+
"cls": "HousingCabinet"
|
| 437 |
+
},
|
| 438 |
+
"fridge_top_left_group": {
|
| 439 |
+
"cls": "HingeCabinet"
|
| 440 |
+
},
|
| 441 |
+
"cab_1_left_group": {
|
| 442 |
+
"cls": "HingeCabinet"
|
| 443 |
+
},
|
| 444 |
+
"coffee_machine_left_group": {
|
| 445 |
+
"cls": "CoffeeMachine"
|
| 446 |
+
},
|
| 447 |
+
"toaster_oven_left_group": {
|
| 448 |
+
"cls": "ToasterOven"
|
| 449 |
+
},
|
| 450 |
+
"counter_1_front_group": {
|
| 451 |
+
"cls": "Counter"
|
| 452 |
+
},
|
| 453 |
+
"stove_front_group": {
|
| 454 |
+
"cls": "Stove"
|
| 455 |
+
},
|
| 456 |
+
"counter_2_front_group": {
|
| 457 |
+
"cls": "Counter"
|
| 458 |
+
},
|
| 459 |
+
"counter_3_front_group": {
|
| 460 |
+
"cls": "Counter"
|
| 461 |
+
},
|
| 462 |
+
"counter_4_front_group": {
|
| 463 |
+
"cls": "Counter"
|
| 464 |
+
},
|
| 465 |
+
"counter_5_front_group": {
|
| 466 |
+
"cls": "Counter"
|
| 467 |
+
},
|
| 468 |
+
"stack_1_front_group_base": {
|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
+
"stack_1_front_group_1": {
|
| 472 |
+
"cls": "HingeCabinet"
|
| 473 |
+
},
|
| 474 |
+
"stack_1_front_group_2": {
|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_2_front_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"stack_2_front_group_1": {
|
| 481 |
+
"cls": "SingleCabinet"
|
| 482 |
+
},
|
| 483 |
+
"stack_2_front_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"stack_3_front_group_base": {
|
| 487 |
+
"cls": "Box"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_front_group_1": {
|
| 490 |
+
"cls": "SingleCabinet"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_front_group_2": {
|
| 493 |
+
"cls": "Drawer"
|
| 494 |
+
},
|
| 495 |
+
"box_1_front_group": {
|
| 496 |
+
"cls": "Box"
|
| 497 |
+
},
|
| 498 |
+
"box_2_front_group": {
|
| 499 |
+
"cls": "Box"
|
| 500 |
+
},
|
| 501 |
+
"box_3_front_group": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"hood_front_group": {
|
| 505 |
+
"cls": "Hood"
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"gen_textures": {},
|
| 509 |
+
"lang": "Pick both bowls and place them on the counter. Then place the potato in one bowl and place the mango in the other bowl.",
|
| 510 |
+
"fixture_refs": {
|
| 511 |
+
"cab": "cab_1_main_group",
|
| 512 |
+
"counter": "counter_1_main_group"
|
| 513 |
+
},
|
| 514 |
+
"cam_configs": {
|
| 515 |
+
"robot0_agentview_center": {
|
| 516 |
+
"pos": [
|
| 517 |
+
-0.6,
|
| 518 |
+
0.0,
|
| 519 |
+
1.15
|
| 520 |
+
],
|
| 521 |
+
"quat": [
|
| 522 |
+
0.636945903301239,
|
| 523 |
+
0.3325185477733612,
|
| 524 |
+
-0.3199238181114197,
|
| 525 |
+
-0.6175596117973328
|
| 526 |
+
],
|
| 527 |
+
"parent_body": "mobilebase0_support"
|
| 528 |
+
},
|
| 529 |
+
"robot0_agentview_left": {
|
| 530 |
+
"pos": [
|
| 531 |
+
-0.5,
|
| 532 |
+
0.35,
|
| 533 |
+
1.05
|
| 534 |
+
],
|
| 535 |
+
"quat": [
|
| 536 |
+
0.55623853,
|
| 537 |
+
0.29935253,
|
| 538 |
+
-0.37678665,
|
| 539 |
+
-0.6775092
|
| 540 |
+
],
|
| 541 |
+
"camera_attribs": {
|
| 542 |
+
"fovy": "60"
|
| 543 |
+
},
|
| 544 |
+
"parent_body": "mobilebase0_support"
|
| 545 |
+
},
|
| 546 |
+
"robot0_agentview_right": {
|
| 547 |
+
"pos": [
|
| 548 |
+
-0.5,
|
| 549 |
+
-0.35,
|
| 550 |
+
1.05
|
| 551 |
+
],
|
| 552 |
+
"quat": [
|
| 553 |
+
0.6775091886520386,
|
| 554 |
+
0.3767866790294647,
|
| 555 |
+
-0.2993525564670563,
|
| 556 |
+
-0.55623859167099
|
| 557 |
+
],
|
| 558 |
+
"camera_attribs": {
|
| 559 |
+
"fovy": "60"
|
| 560 |
+
},
|
| 561 |
+
"parent_body": "mobilebase0_support"
|
| 562 |
+
},
|
| 563 |
+
"robot0_frontview": {
|
| 564 |
+
"pos": [
|
| 565 |
+
-0.5,
|
| 566 |
+
0,
|
| 567 |
+
0.95
|
| 568 |
+
],
|
| 569 |
+
"quat": [
|
| 570 |
+
0.6088936924934387,
|
| 571 |
+
0.3814677894115448,
|
| 572 |
+
-0.3673907518386841,
|
| 573 |
+
-0.5905545353889465
|
| 574 |
+
],
|
| 575 |
+
"camera_attribs": {
|
| 576 |
+
"fovy": "60"
|
| 577 |
+
},
|
| 578 |
+
"parent_body": "mobilebase0_support"
|
| 579 |
+
},
|
| 580 |
+
"robot0_eye_in_hand": {
|
| 581 |
+
"pos": [
|
| 582 |
+
0.05,
|
| 583 |
+
0,
|
| 584 |
+
0
|
| 585 |
+
],
|
| 586 |
+
"quat": [
|
| 587 |
+
0,
|
| 588 |
+
0.707107,
|
| 589 |
+
0.707107,
|
| 590 |
+
0
|
| 591 |
+
],
|
| 592 |
+
"parent_body": "robot0_right_hand"
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"init_robot_base_pos": [
|
| 596 |
+
2.8949862619376088,
|
| 597 |
+
-0.7998291449653783,
|
| 598 |
+
0.0
|
| 599 |
+
],
|
| 600 |
+
"init_robot_base_ori": [
|
| 601 |
+
0.0,
|
| 602 |
+
0.0,
|
| 603 |
+
1.5707963267948966
|
| 604 |
+
]
|
| 605 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000023/ep_meta.json
ADDED
|
@@ -0,0 +1,523 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 34,
|
| 3 |
+
"style_id": 36,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "hingecabinet_2_left_group_1",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.825,
|
| 45 |
+
0.3716
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "hingecabinet_2_left_group_1",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.825,
|
| 91 |
+
0.3716
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_left_group_1",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "hingecabinet_2_left_group_1",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.06405487999999998,
|
| 107 |
+
0.12499897124999998,
|
| 108 |
+
0.06664654999999998
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"onion",
|
| 125 |
+
"vegetable",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container"
|
| 128 |
+
],
|
| 129 |
+
"groups": [
|
| 130 |
+
"food"
|
| 131 |
+
],
|
| 132 |
+
"cat": "onion",
|
| 133 |
+
"split": "train",
|
| 134 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml"
|
| 135 |
+
},
|
| 136 |
+
"reset_region": {
|
| 137 |
+
"size": [
|
| 138 |
+
1.1552028187310142,
|
| 139 |
+
0.65
|
| 140 |
+
],
|
| 141 |
+
"offset": [
|
| 142 |
+
-0.7054000000000005,
|
| 143 |
+
-3.469446951953614e-17,
|
| 144 |
+
0.46
|
| 145 |
+
],
|
| 146 |
+
"name": "geom_0"
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"name": "food2",
|
| 151 |
+
"obj_groups": "food",
|
| 152 |
+
"graspable": true,
|
| 153 |
+
"placement": {
|
| 154 |
+
"fixture": "counter_1_left_group_1",
|
| 155 |
+
"sample_region_kwargs": {
|
| 156 |
+
"ref": "hingecabinet_2_left_group_1",
|
| 157 |
+
"min_size": [
|
| 158 |
+
0.06922037449999999,
|
| 159 |
+
0.14085241399999998,
|
| 160 |
+
0.06430036399999998
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"size": [
|
| 164 |
+
0.6,
|
| 165 |
+
0.3
|
| 166 |
+
],
|
| 167 |
+
"pos": [
|
| 168 |
+
"ref",
|
| 169 |
+
-1.0
|
| 170 |
+
]
|
| 171 |
+
},
|
| 172 |
+
"type": "object",
|
| 173 |
+
"info": {
|
| 174 |
+
"groups_containing_sampled_obj": [
|
| 175 |
+
"all",
|
| 176 |
+
"hotdog_bun",
|
| 177 |
+
"bread_food",
|
| 178 |
+
"food",
|
| 179 |
+
"in_container"
|
| 180 |
+
],
|
| 181 |
+
"groups": [
|
| 182 |
+
"food"
|
| 183 |
+
],
|
| 184 |
+
"cat": "hotdog_bun",
|
| 185 |
+
"split": "train",
|
| 186 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml"
|
| 187 |
+
},
|
| 188 |
+
"reset_region": {
|
| 189 |
+
"size": [
|
| 190 |
+
1.1552028187310142,
|
| 191 |
+
0.65
|
| 192 |
+
],
|
| 193 |
+
"offset": [
|
| 194 |
+
-0.7054000000000005,
|
| 195 |
+
-3.469446951953614e-17,
|
| 196 |
+
0.46
|
| 197 |
+
],
|
| 198 |
+
"name": "geom_0"
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"name": "distr_counter",
|
| 203 |
+
"obj_groups": "all",
|
| 204 |
+
"placement": {
|
| 205 |
+
"fixture": "counter_1_left_group_1",
|
| 206 |
+
"sample_region_kwargs": {
|
| 207 |
+
"ref": "hingecabinet_2_left_group_1",
|
| 208 |
+
"min_size": [
|
| 209 |
+
0.0587092272,
|
| 210 |
+
0.12123810348934207,
|
| 211 |
+
0.06071863479918593
|
| 212 |
+
]
|
| 213 |
+
},
|
| 214 |
+
"size": [
|
| 215 |
+
0.5,
|
| 216 |
+
0.2
|
| 217 |
+
],
|
| 218 |
+
"pos": [
|
| 219 |
+
"ref",
|
| 220 |
+
1.0
|
| 221 |
+
]
|
| 222 |
+
},
|
| 223 |
+
"type": "object",
|
| 224 |
+
"info": {
|
| 225 |
+
"groups_containing_sampled_obj": [
|
| 226 |
+
"all",
|
| 227 |
+
"pear",
|
| 228 |
+
"fruit",
|
| 229 |
+
"food",
|
| 230 |
+
"in_container"
|
| 231 |
+
],
|
| 232 |
+
"groups": [
|
| 233 |
+
"all"
|
| 234 |
+
],
|
| 235 |
+
"cat": "pear",
|
| 236 |
+
"split": "train",
|
| 237 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
|
| 238 |
+
},
|
| 239 |
+
"reset_region": {
|
| 240 |
+
"size": [
|
| 241 |
+
1.1552028187310142,
|
| 242 |
+
0.65
|
| 243 |
+
],
|
| 244 |
+
"offset": [
|
| 245 |
+
-0.7054000000000005,
|
| 246 |
+
-3.469446951953614e-17,
|
| 247 |
+
0.46
|
| 248 |
+
],
|
| 249 |
+
"name": "geom_0"
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
],
|
| 253 |
+
"fixtures": {
|
| 254 |
+
"wall_main_1_room": {
|
| 255 |
+
"cls": "Wall"
|
| 256 |
+
},
|
| 257 |
+
"wall_main_1_backing_room": {
|
| 258 |
+
"cls": "Wall"
|
| 259 |
+
},
|
| 260 |
+
"wall_left_1_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_left_1_backing_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"floor_1_room": {
|
| 267 |
+
"cls": "Floor"
|
| 268 |
+
},
|
| 269 |
+
"floor_1_backing_room": {
|
| 270 |
+
"cls": "Floor"
|
| 271 |
+
},
|
| 272 |
+
"stool_2_room": {
|
| 273 |
+
"cls": "Stool"
|
| 274 |
+
},
|
| 275 |
+
"stool_3_room": {
|
| 276 |
+
"cls": "Stool"
|
| 277 |
+
},
|
| 278 |
+
"stool_4_room": {
|
| 279 |
+
"cls": "Stool"
|
| 280 |
+
},
|
| 281 |
+
"stool_1_room": {
|
| 282 |
+
"cls": "Stool"
|
| 283 |
+
},
|
| 284 |
+
"stovetop_left_group_1": {
|
| 285 |
+
"cls": "Stovetop"
|
| 286 |
+
},
|
| 287 |
+
"counter_1_left_group_1": {
|
| 288 |
+
"cls": "Counter"
|
| 289 |
+
},
|
| 290 |
+
"hingecabinet_4_left_group_1": {
|
| 291 |
+
"cls": "HingeCabinet"
|
| 292 |
+
},
|
| 293 |
+
"hingecabinet_3_left_group_1": {
|
| 294 |
+
"cls": "HingeCabinet"
|
| 295 |
+
},
|
| 296 |
+
"hingecabinet_2_left_group_1": {
|
| 297 |
+
"cls": "HingeCabinet"
|
| 298 |
+
},
|
| 299 |
+
"singlecabinet_1_left_group_1": {
|
| 300 |
+
"cls": "SingleCabinet"
|
| 301 |
+
},
|
| 302 |
+
"bottom_left_group_1_base": {
|
| 303 |
+
"cls": "Box"
|
| 304 |
+
},
|
| 305 |
+
"bottom_left_group_1_1": {
|
| 306 |
+
"cls": "Drawer"
|
| 307 |
+
},
|
| 308 |
+
"oven_left_group_1": {
|
| 309 |
+
"cls": "Oven"
|
| 310 |
+
},
|
| 311 |
+
"microwave_left_group_1": {
|
| 312 |
+
"cls": "Microwave"
|
| 313 |
+
},
|
| 314 |
+
"fridgefrenchdoor_left_group_1": {
|
| 315 |
+
"cls": "FridgeFrenchDoor"
|
| 316 |
+
},
|
| 317 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 318 |
+
"cls": "HousingCabinet"
|
| 319 |
+
},
|
| 320 |
+
"oven_housing_left_group_1": {
|
| 321 |
+
"cls": "HousingCabinet"
|
| 322 |
+
},
|
| 323 |
+
"hingecabinet_1_left_group_1": {
|
| 324 |
+
"cls": "HingeCabinet"
|
| 325 |
+
},
|
| 326 |
+
"microwave_housing_left_group_1": {
|
| 327 |
+
"cls": "HousingCabinet"
|
| 328 |
+
},
|
| 329 |
+
"top_left_group_1": {
|
| 330 |
+
"cls": "HingeCabinet"
|
| 331 |
+
},
|
| 332 |
+
"stack_3_left_group_1_base": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"stack_3_left_group_1_1": {
|
| 336 |
+
"cls": "Drawer"
|
| 337 |
+
},
|
| 338 |
+
"stack_3_left_group_1_2": {
|
| 339 |
+
"cls": "Drawer"
|
| 340 |
+
},
|
| 341 |
+
"stack_3_left_group_1_3": {
|
| 342 |
+
"cls": "PanelCabinet"
|
| 343 |
+
},
|
| 344 |
+
"stack_2_left_group_1_base": {
|
| 345 |
+
"cls": "Box"
|
| 346 |
+
},
|
| 347 |
+
"stack_2_left_group_1_1": {
|
| 348 |
+
"cls": "Drawer"
|
| 349 |
+
},
|
| 350 |
+
"stack_2_left_group_1_2": {
|
| 351 |
+
"cls": "Drawer"
|
| 352 |
+
},
|
| 353 |
+
"stack_2_left_group_1_3": {
|
| 354 |
+
"cls": "Drawer"
|
| 355 |
+
},
|
| 356 |
+
"stack_4_left_group_1_base": {
|
| 357 |
+
"cls": "Box"
|
| 358 |
+
},
|
| 359 |
+
"stack_4_left_group_1_1": {
|
| 360 |
+
"cls": "Drawer"
|
| 361 |
+
},
|
| 362 |
+
"stack_4_left_group_1_2": {
|
| 363 |
+
"cls": "Drawer"
|
| 364 |
+
},
|
| 365 |
+
"stack_4_left_group_1_3": {
|
| 366 |
+
"cls": "Drawer"
|
| 367 |
+
},
|
| 368 |
+
"stack_1_left_group_1_base": {
|
| 369 |
+
"cls": "Box"
|
| 370 |
+
},
|
| 371 |
+
"stack_1_left_group_1_1": {
|
| 372 |
+
"cls": "SingleCabinet"
|
| 373 |
+
},
|
| 374 |
+
"coffee_machine_left_group_1": {
|
| 375 |
+
"cls": "CoffeeMachine"
|
| 376 |
+
},
|
| 377 |
+
"toaster_left_group_1": {
|
| 378 |
+
"cls": "Toaster"
|
| 379 |
+
},
|
| 380 |
+
"toaster_oven_left_group_1": {
|
| 381 |
+
"cls": "ToasterOven"
|
| 382 |
+
},
|
| 383 |
+
"sink_island_group_1": {
|
| 384 |
+
"cls": "Sink"
|
| 385 |
+
},
|
| 386 |
+
"island_island_group_1": {
|
| 387 |
+
"cls": "Counter"
|
| 388 |
+
},
|
| 389 |
+
"cube_1_island_group_1": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"cube_2_island_group_1": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"cube_3_island_group_1": {
|
| 396 |
+
"cls": "Box"
|
| 397 |
+
},
|
| 398 |
+
"stack_2_island_group_1_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_island_group_1_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_3_island_group_1_base": {
|
| 405 |
+
"cls": "Box"
|
| 406 |
+
},
|
| 407 |
+
"stack_3_island_group_1_1": {
|
| 408 |
+
"cls": "SingleCabinet"
|
| 409 |
+
},
|
| 410 |
+
"stack_1_island_group_1_base": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"stack_1_island_group_1_1": {
|
| 414 |
+
"cls": "SingleCabinet"
|
| 415 |
+
},
|
| 416 |
+
"cube_4_island_group_1": {
|
| 417 |
+
"cls": "Box"
|
| 418 |
+
},
|
| 419 |
+
"dishwasher_1_island_group_1": {
|
| 420 |
+
"cls": "Dishwasher"
|
| 421 |
+
},
|
| 422 |
+
"paper_towel_island_group_1": {
|
| 423 |
+
"cls": "Accessory"
|
| 424 |
+
}
|
| 425 |
+
},
|
| 426 |
+
"gen_textures": {},
|
| 427 |
+
"lang": "Pick both bowls and place them on the counter. Then place the onion in one bowl and place the hotdog bun in the other bowl.",
|
| 428 |
+
"fixture_refs": {
|
| 429 |
+
"cab": "hingecabinet_2_left_group_1",
|
| 430 |
+
"counter": "counter_1_left_group_1"
|
| 431 |
+
},
|
| 432 |
+
"cam_configs": {
|
| 433 |
+
"robot0_agentview_center": {
|
| 434 |
+
"pos": [
|
| 435 |
+
-0.6,
|
| 436 |
+
0.0,
|
| 437 |
+
1.15
|
| 438 |
+
],
|
| 439 |
+
"quat": [
|
| 440 |
+
0.636945903301239,
|
| 441 |
+
0.3325185477733612,
|
| 442 |
+
-0.3199238181114197,
|
| 443 |
+
-0.6175596117973328
|
| 444 |
+
],
|
| 445 |
+
"parent_body": "mobilebase0_support"
|
| 446 |
+
},
|
| 447 |
+
"robot0_agentview_left": {
|
| 448 |
+
"pos": [
|
| 449 |
+
-0.5,
|
| 450 |
+
0.35,
|
| 451 |
+
1.05
|
| 452 |
+
],
|
| 453 |
+
"quat": [
|
| 454 |
+
0.55623853,
|
| 455 |
+
0.29935253,
|
| 456 |
+
-0.37678665,
|
| 457 |
+
-0.6775092
|
| 458 |
+
],
|
| 459 |
+
"camera_attribs": {
|
| 460 |
+
"fovy": "60"
|
| 461 |
+
},
|
| 462 |
+
"parent_body": "mobilebase0_support"
|
| 463 |
+
},
|
| 464 |
+
"robot0_agentview_right": {
|
| 465 |
+
"pos": [
|
| 466 |
+
-0.5,
|
| 467 |
+
-0.35,
|
| 468 |
+
1.05
|
| 469 |
+
],
|
| 470 |
+
"quat": [
|
| 471 |
+
0.6775091886520386,
|
| 472 |
+
0.3767866790294647,
|
| 473 |
+
-0.2993525564670563,
|
| 474 |
+
-0.55623859167099
|
| 475 |
+
],
|
| 476 |
+
"camera_attribs": {
|
| 477 |
+
"fovy": "60"
|
| 478 |
+
},
|
| 479 |
+
"parent_body": "mobilebase0_support"
|
| 480 |
+
},
|
| 481 |
+
"robot0_frontview": {
|
| 482 |
+
"pos": [
|
| 483 |
+
-0.5,
|
| 484 |
+
0,
|
| 485 |
+
0.95
|
| 486 |
+
],
|
| 487 |
+
"quat": [
|
| 488 |
+
0.6088936924934387,
|
| 489 |
+
0.3814677894115448,
|
| 490 |
+
-0.3673907518386841,
|
| 491 |
+
-0.5905545353889465
|
| 492 |
+
],
|
| 493 |
+
"camera_attribs": {
|
| 494 |
+
"fovy": "60"
|
| 495 |
+
},
|
| 496 |
+
"parent_body": "mobilebase0_support"
|
| 497 |
+
},
|
| 498 |
+
"robot0_eye_in_hand": {
|
| 499 |
+
"pos": [
|
| 500 |
+
0.05,
|
| 501 |
+
0,
|
| 502 |
+
0
|
| 503 |
+
],
|
| 504 |
+
"quat": [
|
| 505 |
+
0,
|
| 506 |
+
0.707107,
|
| 507 |
+
0.707107,
|
| 508 |
+
0
|
| 509 |
+
],
|
| 510 |
+
"parent_body": "robot0_right_hand"
|
| 511 |
+
}
|
| 512 |
+
},
|
| 513 |
+
"init_robot_base_pos": [
|
| 514 |
+
0.8195846712006802,
|
| 515 |
+
-3.196585171282431,
|
| 516 |
+
0.0
|
| 517 |
+
],
|
| 518 |
+
"init_robot_base_ori": [
|
| 519 |
+
0.0,
|
| 520 |
+
0.0,
|
| 521 |
+
3.1412906566438026
|
| 522 |
+
]
|
| 523 |
+
}
|
pretrain/composite/PlaceFoodInBowls/20250725/lerobot/extras/episode_000026/ep_meta.json
ADDED
|
@@ -0,0 +1,687 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 12,
|
| 3 |
+
"style_id": 15,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "receptacle1",
|
| 7 |
+
"obj_groups": "bowl",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "cab_2_main_group",
|
| 11 |
+
"size": [
|
| 12 |
+
0.4,
|
| 13 |
+
0.4
|
| 14 |
+
],
|
| 15 |
+
"pos": [
|
| 16 |
+
-1.0,
|
| 17 |
+
-1.0
|
| 18 |
+
]
|
| 19 |
+
},
|
| 20 |
+
"type": "object",
|
| 21 |
+
"info": {
|
| 22 |
+
"groups_containing_sampled_obj": [
|
| 23 |
+
"all",
|
| 24 |
+
"bowl",
|
| 25 |
+
"receptacle",
|
| 26 |
+
"stackable",
|
| 27 |
+
"group1",
|
| 28 |
+
"container_set2"
|
| 29 |
+
],
|
| 30 |
+
"groups": [
|
| 31 |
+
"bowl"
|
| 32 |
+
],
|
| 33 |
+
"cat": "bowl",
|
| 34 |
+
"split": "train",
|
| 35 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
|
| 36 |
+
},
|
| 37 |
+
"reset_region": {
|
| 38 |
+
"offset": [
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
-0.43
|
| 42 |
+
],
|
| 43 |
+
"size": [
|
| 44 |
+
0.9199999999999999,
|
| 45 |
+
0.34
|
| 46 |
+
],
|
| 47 |
+
"height": 0.2666666666666667,
|
| 48 |
+
"name": "level0"
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "receptacle2",
|
| 53 |
+
"obj_groups": "bowl",
|
| 54 |
+
"graspable": true,
|
| 55 |
+
"placement": {
|
| 56 |
+
"fixture": "cab_2_main_group",
|
| 57 |
+
"size": [
|
| 58 |
+
0.4,
|
| 59 |
+
0.4
|
| 60 |
+
],
|
| 61 |
+
"pos": [
|
| 62 |
+
1.0,
|
| 63 |
+
-1.0
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"type": "object",
|
| 67 |
+
"info": {
|
| 68 |
+
"groups_containing_sampled_obj": [
|
| 69 |
+
"all",
|
| 70 |
+
"bowl",
|
| 71 |
+
"receptacle",
|
| 72 |
+
"stackable",
|
| 73 |
+
"group1",
|
| 74 |
+
"container_set2"
|
| 75 |
+
],
|
| 76 |
+
"groups": [
|
| 77 |
+
"bowl"
|
| 78 |
+
],
|
| 79 |
+
"cat": "bowl",
|
| 80 |
+
"split": "train",
|
| 81 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
|
| 82 |
+
},
|
| 83 |
+
"reset_region": {
|
| 84 |
+
"offset": [
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
-0.43
|
| 88 |
+
],
|
| 89 |
+
"size": [
|
| 90 |
+
0.9199999999999999,
|
| 91 |
+
0.34
|
| 92 |
+
],
|
| 93 |
+
"height": 0.2666666666666667,
|
| 94 |
+
"name": "level0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"name": "food1",
|
| 99 |
+
"obj_groups": "food",
|
| 100 |
+
"graspable": true,
|
| 101 |
+
"placement": {
|
| 102 |
+
"fixture": "counter_1_main_group",
|
| 103 |
+
"sample_region_kwargs": {
|
| 104 |
+
"ref": "cab_2_main_group",
|
| 105 |
+
"min_size": [
|
| 106 |
+
0.027149190159279808,
|
| 107 |
+
0.11703501625277146,
|
| 108 |
+
0.05390286950999998
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"size": [
|
| 112 |
+
0.6,
|
| 113 |
+
0.3
|
| 114 |
+
],
|
| 115 |
+
"pos": [
|
| 116 |
+
"ref",
|
| 117 |
+
-1.0
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"type": "object",
|
| 121 |
+
"info": {
|
| 122 |
+
"groups_containing_sampled_obj": [
|
| 123 |
+
"all",
|
| 124 |
+
"cheese",
|
| 125 |
+
"dairy",
|
| 126 |
+
"food",
|
| 127 |
+
"in_container",
|
| 128 |
+
"food_set1"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"food"
|
| 132 |
+
],
|
| 133 |
+
"cat": "cheese",
|
| 134 |
+
"split": "train",
|
| 135 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
|
| 136 |
+
},
|
| 137 |
+
"reset_region": {
|
| 138 |
+
"size": [
|
| 139 |
+
1.0480000000000005,
|
| 140 |
+
0.65
|
| 141 |
+
],
|
| 142 |
+
"offset": [
|
| 143 |
+
1.4129999999999998,
|
| 144 |
+
-3.469446951953614e-17,
|
| 145 |
+
0.46
|
| 146 |
+
],
|
| 147 |
+
"name": "geom_0"
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"name": "food2",
|
| 152 |
+
"obj_groups": "food",
|
| 153 |
+
"graspable": true,
|
| 154 |
+
"placement": {
|
| 155 |
+
"fixture": "counter_1_main_group",
|
| 156 |
+
"sample_region_kwargs": {
|
| 157 |
+
"ref": "cab_2_main_group",
|
| 158 |
+
"min_size": [
|
| 159 |
+
0.06410261910000004,
|
| 160 |
+
0.06378820760000004,
|
| 161 |
+
0.05815621890000003
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"size": [
|
| 165 |
+
0.6,
|
| 166 |
+
0.3
|
| 167 |
+
],
|
| 168 |
+
"pos": [
|
| 169 |
+
"ref",
|
| 170 |
+
-1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"type": "object",
|
| 174 |
+
"info": {
|
| 175 |
+
"groups_containing_sampled_obj": [
|
| 176 |
+
"all",
|
| 177 |
+
"tomato",
|
| 178 |
+
"vegetable",
|
| 179 |
+
"food",
|
| 180 |
+
"in_container"
|
| 181 |
+
],
|
| 182 |
+
"groups": [
|
| 183 |
+
"food"
|
| 184 |
+
],
|
| 185 |
+
"cat": "tomato",
|
| 186 |
+
"split": "train",
|
| 187 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml"
|
| 188 |
+
},
|
| 189 |
+
"reset_region": {
|
| 190 |
+
"size": [
|
| 191 |
+
1.0480000000000005,
|
| 192 |
+
0.65
|
| 193 |
+
],
|
| 194 |
+
"offset": [
|
| 195 |
+
1.4129999999999998,
|
| 196 |
+
-3.469446951953614e-17,
|
| 197 |
+
0.46
|
| 198 |
+
],
|
| 199 |
+
"name": "geom_0"
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"name": "distr_counter",
|
| 204 |
+
"obj_groups": "all",
|
| 205 |
+
"placement": {
|
| 206 |
+
"fixture": "counter_1_main_group",
|
| 207 |
+
"sample_region_kwargs": {
|
| 208 |
+
"ref": "cab_2_main_group",
|
| 209 |
+
"min_size": [
|
| 210 |
+
0.08376885561397304,
|
| 211 |
+
0.11023097975944163,
|
| 212 |
+
0.21204336930000003
|
| 213 |
+
]
|
| 214 |
+
},
|
| 215 |
+
"size": [
|
| 216 |
+
0.5,
|
| 217 |
+
0.2
|
| 218 |
+
],
|
| 219 |
+
"pos": [
|
| 220 |
+
"ref",
|
| 221 |
+
1.0
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"type": "object",
|
| 225 |
+
"info": {
|
| 226 |
+
"groups_containing_sampled_obj": [
|
| 227 |
+
"all",
|
| 228 |
+
"spray",
|
| 229 |
+
"cleaner"
|
| 230 |
+
],
|
| 231 |
+
"groups": [
|
| 232 |
+
"all"
|
| 233 |
+
],
|
| 234 |
+
"cat": "spray",
|
| 235 |
+
"split": "train",
|
| 236 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml"
|
| 237 |
+
},
|
| 238 |
+
"reset_region": {
|
| 239 |
+
"size": [
|
| 240 |
+
1.0480000000000005,
|
| 241 |
+
0.65
|
| 242 |
+
],
|
| 243 |
+
"offset": [
|
| 244 |
+
1.4129999999999998,
|
| 245 |
+
-3.469446951953614e-17,
|
| 246 |
+
0.46
|
| 247 |
+
],
|
| 248 |
+
"name": "geom_0"
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
],
|
| 252 |
+
"fixtures": {
|
| 253 |
+
"wall_left_1_room": {
|
| 254 |
+
"cls": "Wall"
|
| 255 |
+
},
|
| 256 |
+
"wall_left_1_backing_room": {
|
| 257 |
+
"cls": "Wall"
|
| 258 |
+
},
|
| 259 |
+
"wall_main_1_room": {
|
| 260 |
+
"cls": "Wall"
|
| 261 |
+
},
|
| 262 |
+
"wall_main_1_backing_room": {
|
| 263 |
+
"cls": "Wall"
|
| 264 |
+
},
|
| 265 |
+
"wall_right_1_room": {
|
| 266 |
+
"cls": "Wall"
|
| 267 |
+
},
|
| 268 |
+
"wall_right_1_backing_room": {
|
| 269 |
+
"cls": "Wall"
|
| 270 |
+
},
|
| 271 |
+
"wall_right_2_room": {
|
| 272 |
+
"cls": "Wall"
|
| 273 |
+
},
|
| 274 |
+
"wall_right_2_backing_room": {
|
| 275 |
+
"cls": "Wall"
|
| 276 |
+
},
|
| 277 |
+
"wall_right_3_room": {
|
| 278 |
+
"cls": "Wall"
|
| 279 |
+
},
|
| 280 |
+
"wall_right_3_backing_room": {
|
| 281 |
+
"cls": "Wall"
|
| 282 |
+
},
|
| 283 |
+
"floor_1_room": {
|
| 284 |
+
"cls": "Floor"
|
| 285 |
+
},
|
| 286 |
+
"floor_1_backing_room": {
|
| 287 |
+
"cls": "Floor"
|
| 288 |
+
},
|
| 289 |
+
"wall_accessory_1_room": {
|
| 290 |
+
"cls": "WallAccessory"
|
| 291 |
+
},
|
| 292 |
+
"wall_accessory_2_room": {
|
| 293 |
+
"cls": "WallAccessory"
|
| 294 |
+
},
|
| 295 |
+
"wall_accessory_3_room": {
|
| 296 |
+
"cls": "WallAccessory"
|
| 297 |
+
},
|
| 298 |
+
"light_switch_1_room": {
|
| 299 |
+
"cls": "WallAccessory"
|
| 300 |
+
},
|
| 301 |
+
"wall_accessory_4_room": {
|
| 302 |
+
"cls": "WallAccessory"
|
| 303 |
+
},
|
| 304 |
+
"wall_accessory_5_room": {
|
| 305 |
+
"cls": "WallAccessory"
|
| 306 |
+
},
|
| 307 |
+
"window_group_room": {
|
| 308 |
+
"cls": "Window"
|
| 309 |
+
},
|
| 310 |
+
"stool_1_room": {
|
| 311 |
+
"cls": "Stool"
|
| 312 |
+
},
|
| 313 |
+
"stool_2_room": {
|
| 314 |
+
"cls": "Stool"
|
| 315 |
+
},
|
| 316 |
+
"stool_3_room": {
|
| 317 |
+
"cls": "Stool"
|
| 318 |
+
},
|
| 319 |
+
"stool_4_room": {
|
| 320 |
+
"cls": "Stool"
|
| 321 |
+
},
|
| 322 |
+
"stool_5_room": {
|
| 323 |
+
"cls": "Stool"
|
| 324 |
+
},
|
| 325 |
+
"stool_6_room": {
|
| 326 |
+
"cls": "Stool"
|
| 327 |
+
},
|
| 328 |
+
"counter_corner_1_main_group": {
|
| 329 |
+
"cls": "Counter"
|
| 330 |
+
},
|
| 331 |
+
"sink_1_main_group": {
|
| 332 |
+
"cls": "Sink"
|
| 333 |
+
},
|
| 334 |
+
"counter_1_main_group": {
|
| 335 |
+
"cls": "Counter"
|
| 336 |
+
},
|
| 337 |
+
"counter_corner_2_main_group": {
|
| 338 |
+
"cls": "Counter"
|
| 339 |
+
},
|
| 340 |
+
"box_1_main_group": {
|
| 341 |
+
"cls": "Box"
|
| 342 |
+
},
|
| 343 |
+
"stack_1_main_group_base": {
|
| 344 |
+
"cls": "Box"
|
| 345 |
+
},
|
| 346 |
+
"stack_1_main_group_1": {
|
| 347 |
+
"cls": "Drawer"
|
| 348 |
+
},
|
| 349 |
+
"stack_1_main_group_2": {
|
| 350 |
+
"cls": "Drawer"
|
| 351 |
+
},
|
| 352 |
+
"stack_1_main_group_3": {
|
| 353 |
+
"cls": "Drawer"
|
| 354 |
+
},
|
| 355 |
+
"stack_2_main_group_base": {
|
| 356 |
+
"cls": "Box"
|
| 357 |
+
},
|
| 358 |
+
"stack_2_main_group_1": {
|
| 359 |
+
"cls": "SingleCabinet"
|
| 360 |
+
},
|
| 361 |
+
"stack_2_main_group_2": {
|
| 362 |
+
"cls": "Drawer"
|
| 363 |
+
},
|
| 364 |
+
"stack_3_main_group_base": {
|
| 365 |
+
"cls": "Box"
|
| 366 |
+
},
|
| 367 |
+
"stack_3_main_group_1": {
|
| 368 |
+
"cls": "HingeCabinet"
|
| 369 |
+
},
|
| 370 |
+
"dishwasher_1_main_group": {
|
| 371 |
+
"cls": "Dishwasher"
|
| 372 |
+
},
|
| 373 |
+
"stack_4_main_group_base": {
|
| 374 |
+
"cls": "Box"
|
| 375 |
+
},
|
| 376 |
+
"stack_4_main_group_1": {
|
| 377 |
+
"cls": "SingleCabinet"
|
| 378 |
+
},
|
| 379 |
+
"stack_4_main_group_2": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
+
},
|
| 382 |
+
"stack_5_main_group_base": {
|
| 383 |
+
"cls": "Box"
|
| 384 |
+
},
|
| 385 |
+
"stack_5_main_group_1": {
|
| 386 |
+
"cls": "SingleCabinet"
|
| 387 |
+
},
|
| 388 |
+
"box_2_main_group": {
|
| 389 |
+
"cls": "Box"
|
| 390 |
+
},
|
| 391 |
+
"top_corner_1_main_group": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"cab_1_main_group": {
|
| 395 |
+
"cls": "HingeCabinet"
|
| 396 |
+
},
|
| 397 |
+
"cab_2_main_group": {
|
| 398 |
+
"cls": "HingeCabinet"
|
| 399 |
+
},
|
| 400 |
+
"top_corner_2_main_group": {
|
| 401 |
+
"cls": "Box"
|
| 402 |
+
},
|
| 403 |
+
"paper_towel_main_group": {
|
| 404 |
+
"cls": "Accessory"
|
| 405 |
+
},
|
| 406 |
+
"coffee_machine_main_group": {
|
| 407 |
+
"cls": "CoffeeMachine"
|
| 408 |
+
},
|
| 409 |
+
"toaster_main_group": {
|
| 410 |
+
"cls": "Toaster"
|
| 411 |
+
},
|
| 412 |
+
"knife_block_main_group": {
|
| 413 |
+
"cls": "Accessory"
|
| 414 |
+
},
|
| 415 |
+
"stovetop_left_group": {
|
| 416 |
+
"cls": "Stovetop"
|
| 417 |
+
},
|
| 418 |
+
"counter_1_left_group": {
|
| 419 |
+
"cls": "Counter"
|
| 420 |
+
},
|
| 421 |
+
"box_1_left_group": {
|
| 422 |
+
"cls": "Box"
|
| 423 |
+
},
|
| 424 |
+
"stack_1_left_group_base": {
|
| 425 |
+
"cls": "Box"
|
| 426 |
+
},
|
| 427 |
+
"stack_1_left_group_1": {
|
| 428 |
+
"cls": "SingleCabinet"
|
| 429 |
+
},
|
| 430 |
+
"stack_2_left_group_base": {
|
| 431 |
+
"cls": "Box"
|
| 432 |
+
},
|
| 433 |
+
"stack_2_left_group_1": {
|
| 434 |
+
"cls": "Drawer"
|
| 435 |
+
},
|
| 436 |
+
"stack_2_left_group_2": {
|
| 437 |
+
"cls": "Drawer"
|
| 438 |
+
},
|
| 439 |
+
"stack_2_left_group_3": {
|
| 440 |
+
"cls": "PanelCabinet"
|
| 441 |
+
},
|
| 442 |
+
"box_3_left_group": {
|
| 443 |
+
"cls": "Box"
|
| 444 |
+
},
|
| 445 |
+
"stack_3_left_group_base": {
|
| 446 |
+
"cls": "Box"
|
| 447 |
+
},
|
| 448 |
+
"stack_3_left_group_1": {
|
| 449 |
+
"cls": "Drawer"
|
| 450 |
+
},
|
| 451 |
+
"stack_3_left_group_2": {
|
| 452 |
+
"cls": "Drawer"
|
| 453 |
+
},
|
| 454 |
+
"stack_3_left_group_3": {
|
| 455 |
+
"cls": "Drawer"
|
| 456 |
+
},
|
| 457 |
+
"box_2_left_group": {
|
| 458 |
+
"cls": "Box"
|
| 459 |
+
},
|
| 460 |
+
"fridge_1_left_group": {
|
| 461 |
+
"cls": "FridgeFrenchDoor"
|
| 462 |
+
},
|
| 463 |
+
"fridge_1_housing_left_group": {
|
| 464 |
+
"cls": "HousingCabinet"
|
| 465 |
+
},
|
| 466 |
+
"hood_left_group": {
|
| 467 |
+
"cls": "Hood"
|
| 468 |
+
},
|
| 469 |
+
"cab_1_left_group": {
|
| 470 |
+
"cls": "HingeCabinet"
|
| 471 |
+
},
|
| 472 |
+
"cab_2_left_group": {
|
| 473 |
+
"cls": "SingleCabinet"
|
| 474 |
+
},
|
| 475 |
+
"cab_3_left_group": {
|
| 476 |
+
"cls": "HingeCabinet"
|
| 477 |
+
},
|
| 478 |
+
"toaster_oven_left_group": {
|
| 479 |
+
"cls": "ToasterOven"
|
| 480 |
+
},
|
| 481 |
+
"bottom_right_group_1_base": {
|
| 482 |
+
"cls": "Box"
|
| 483 |
+
},
|
| 484 |
+
"bottom_right_group_1_1": {
|
| 485 |
+
"cls": "Drawer"
|
| 486 |
+
},
|
| 487 |
+
"oven_right_group_1": {
|
| 488 |
+
"cls": "Oven"
|
| 489 |
+
},
|
| 490 |
+
"oven_housing_right_group_1": {
|
| 491 |
+
"cls": "HousingCabinet"
|
| 492 |
+
},
|
| 493 |
+
"microwave_right_group_1": {
|
| 494 |
+
"cls": "Microwave"
|
| 495 |
+
},
|
| 496 |
+
"microwave_housing_right_group_1": {
|
| 497 |
+
"cls": "HousingCabinet"
|
| 498 |
+
},
|
| 499 |
+
"top_right_group_1": {
|
| 500 |
+
"cls": "HingeCabinet"
|
| 501 |
+
},
|
| 502 |
+
"stack_1_right_group_1_base": {
|
| 503 |
+
"cls": "Box"
|
| 504 |
+
},
|
| 505 |
+
"stack_1_right_group_1_1": {
|
| 506 |
+
"cls": "HingeCabinet"
|
| 507 |
+
},
|
| 508 |
+
"stack_2_right_group_1_base": {
|
| 509 |
+
"cls": "Box"
|
| 510 |
+
},
|
| 511 |
+
"stack_2_right_group_1_1": {
|
| 512 |
+
"cls": "PanelCabinet"
|
| 513 |
+
},
|
| 514 |
+
"box_right_group_1": {
|
| 515 |
+
"cls": "Box"
|
| 516 |
+
},
|
| 517 |
+
"stack_3_right_group_1_base": {
|
| 518 |
+
"cls": "Box"
|
| 519 |
+
},
|
| 520 |
+
"stack_3_right_group_1_1": {
|
| 521 |
+
"cls": "HingeCabinet"
|
| 522 |
+
},
|
| 523 |
+
"counter_1_right_group_1": {
|
| 524 |
+
"cls": "Counter"
|
| 525 |
+
},
|
| 526 |
+
"cab_1_right_group_1": {
|
| 527 |
+
"cls": "HingeCabinet"
|
| 528 |
+
},
|
| 529 |
+
"cab_2_right_group_1": {
|
| 530 |
+
"cls": "SingleCabinet"
|
| 531 |
+
},
|
| 532 |
+
"cab_3_right_group_1": {
|
| 533 |
+
"cls": "HingeCabinet"
|
| 534 |
+
},
|
| 535 |
+
"island_island_group": {
|
| 536 |
+
"cls": "Counter"
|
| 537 |
+
},
|
| 538 |
+
"panel_stack_1_island_group_base": {
|
| 539 |
+
"cls": "Box"
|
| 540 |
+
},
|
| 541 |
+
"panel_stack_1_island_group_1": {
|
| 542 |
+
"cls": "PanelCabinet"
|
| 543 |
+
},
|
| 544 |
+
"stack_1_island_group_base": {
|
| 545 |
+
"cls": "Box"
|
| 546 |
+
},
|
| 547 |
+
"stack_1_island_group_1": {
|
| 548 |
+
"cls": "HingeCabinet"
|
| 549 |
+
},
|
| 550 |
+
"stack_1_island_group_2": {
|
| 551 |
+
"cls": "Drawer"
|
| 552 |
+
},
|
| 553 |
+
"stack_2_island_group_base": {
|
| 554 |
+
"cls": "Box"
|
| 555 |
+
},
|
| 556 |
+
"stack_2_island_group_1": {
|
| 557 |
+
"cls": "HingeCabinet"
|
| 558 |
+
},
|
| 559 |
+
"stack_2_island_group_2": {
|
| 560 |
+
"cls": "Drawer"
|
| 561 |
+
},
|
| 562 |
+
"stack_3_island_group_base": {
|
| 563 |
+
"cls": "Box"
|
| 564 |
+
},
|
| 565 |
+
"stack_3_island_group_1": {
|
| 566 |
+
"cls": "HingeCabinet"
|
| 567 |
+
},
|
| 568 |
+
"stack_3_island_group_2": {
|
| 569 |
+
"cls": "Drawer"
|
| 570 |
+
},
|
| 571 |
+
"stack_4_island_group_base": {
|
| 572 |
+
"cls": "Box"
|
| 573 |
+
},
|
| 574 |
+
"stack_4_island_group_1": {
|
| 575 |
+
"cls": "HingeCabinet"
|
| 576 |
+
},
|
| 577 |
+
"stack_4_island_group_2": {
|
| 578 |
+
"cls": "Drawer"
|
| 579 |
+
},
|
| 580 |
+
"panel_stack_2_island_group_base": {
|
| 581 |
+
"cls": "Box"
|
| 582 |
+
},
|
| 583 |
+
"panel_stack_2_island_group_1": {
|
| 584 |
+
"cls": "PanelCabinet"
|
| 585 |
+
},
|
| 586 |
+
"box_1_island_group": {
|
| 587 |
+
"cls": "Box"
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"gen_textures": {},
|
| 591 |
+
"lang": "Pick both bowls and place them on the counter. Then place the cheese in one bowl and place the tomato in the other bowl.",
|
| 592 |
+
"fixture_refs": {
|
| 593 |
+
"cab": "cab_2_main_group",
|
| 594 |
+
"counter": "counter_1_main_group"
|
| 595 |
+
},
|
| 596 |
+
"cam_configs": {
|
| 597 |
+
"robot0_agentview_center": {
|
| 598 |
+
"pos": [
|
| 599 |
+
-0.6,
|
| 600 |
+
0.0,
|
| 601 |
+
1.15
|
| 602 |
+
],
|
| 603 |
+
"quat": [
|
| 604 |
+
0.636945903301239,
|
| 605 |
+
0.3325185477733612,
|
| 606 |
+
-0.3199238181114197,
|
| 607 |
+
-0.6175596117973328
|
| 608 |
+
],
|
| 609 |
+
"parent_body": "mobilebase0_support"
|
| 610 |
+
},
|
| 611 |
+
"robot0_agentview_left": {
|
| 612 |
+
"pos": [
|
| 613 |
+
-0.5,
|
| 614 |
+
0.35,
|
| 615 |
+
1.05
|
| 616 |
+
],
|
| 617 |
+
"quat": [
|
| 618 |
+
0.55623853,
|
| 619 |
+
0.29935253,
|
| 620 |
+
-0.37678665,
|
| 621 |
+
-0.6775092
|
| 622 |
+
],
|
| 623 |
+
"camera_attribs": {
|
| 624 |
+
"fovy": "60"
|
| 625 |
+
},
|
| 626 |
+
"parent_body": "mobilebase0_support"
|
| 627 |
+
},
|
| 628 |
+
"robot0_agentview_right": {
|
| 629 |
+
"pos": [
|
| 630 |
+
-0.5,
|
| 631 |
+
-0.35,
|
| 632 |
+
1.05
|
| 633 |
+
],
|
| 634 |
+
"quat": [
|
| 635 |
+
0.6775091886520386,
|
| 636 |
+
0.3767866790294647,
|
| 637 |
+
-0.2993525564670563,
|
| 638 |
+
-0.55623859167099
|
| 639 |
+
],
|
| 640 |
+
"camera_attribs": {
|
| 641 |
+
"fovy": "60"
|
| 642 |
+
},
|
| 643 |
+
"parent_body": "mobilebase0_support"
|
| 644 |
+
},
|
| 645 |
+
"robot0_frontview": {
|
| 646 |
+
"pos": [
|
| 647 |
+
-0.5,
|
| 648 |
+
0,
|
| 649 |
+
0.95
|
| 650 |
+
],
|
| 651 |
+
"quat": [
|
| 652 |
+
0.6088936924934387,
|
| 653 |
+
0.3814677894115448,
|
| 654 |
+
-0.3673907518386841,
|
| 655 |
+
-0.5905545353889465
|
| 656 |
+
],
|
| 657 |
+
"camera_attribs": {
|
| 658 |
+
"fovy": "60"
|
| 659 |
+
},
|
| 660 |
+
"parent_body": "mobilebase0_support"
|
| 661 |
+
},
|
| 662 |
+
"robot0_eye_in_hand": {
|
| 663 |
+
"pos": [
|
| 664 |
+
0.05,
|
| 665 |
+
0,
|
| 666 |
+
0
|
| 667 |
+
],
|
| 668 |
+
"quat": [
|
| 669 |
+
0,
|
| 670 |
+
0.707107,
|
| 671 |
+
0.707107,
|
| 672 |
+
0
|
| 673 |
+
],
|
| 674 |
+
"parent_body": "robot0_right_hand"
|
| 675 |
+
}
|
| 676 |
+
},
|
| 677 |
+
"init_robot_base_pos": [
|
| 678 |
+
4.1142295585022515,
|
| 679 |
+
-0.8427451637635074,
|
| 680 |
+
0.0
|
| 681 |
+
],
|
| 682 |
+
"init_robot_base_ori": [
|
| 683 |
+
0.0,
|
| 684 |
+
0.0,
|
| 685 |
+
1.5707963267948966
|
| 686 |
+
]
|
| 687 |
+
}
|