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cupcake and donut from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + 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a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e85e0f7ecc3b36aba08d76af93945d0889a122 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,802 @@ +{ + "layout_id": 22, + "style_id": 12, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.1219750099575, + 0.12197962381500001, + 0.042194092710000006 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bec429f50bcbaa311dcb59e65fa7e784741e2a2 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,921 @@ +{ + "layout_id": 25, + "style_id": 54, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06629695839999997, + 0.07979124959999995, + 0.056484244799999965 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": 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] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a0987e250344f380d9a5707c083eb3c8731d093 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,761 @@ +{ + "layout_id": 13, + "style_id": 18, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08252690495999998, + 0.09592070783999997, + 0.03860648447999998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": 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b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,734 @@ +{ + "layout_id": 30, + "style_id": 46, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08026608479999994, + 0.08026608479999994, + 0.06198128959999996 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 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+ }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + 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"dining_counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": 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file mode 100644 index 0000000000000000000000000000000000000000..d37eaf9fa4c0fa07bb43680e9a974b38ae2dceef --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,720 @@ +{ + "layout_id": 32, + "style_id": 12, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11610955104999995, + 0.11507913609999994, + 0.04536781624999998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": 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them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the cakes from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "stool": "stool_2_room", + "dining_counter": 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0000000000000000000000000000000000000000..7b48ca747943a7200e428e773bd535b120654e5b --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,742 @@ +{ + "layout_id": 48, + "style_id": 46, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12197397995999995, + 0.12169279064249995, + 0.047697226867499984 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": 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[ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..874ff26e00547f23bd6dbc422e3ae74d8ee868d7 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,702 @@ +{ + "layout_id": 41, + "style_id": 60, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12187555904999997, + 0.12177405539249994, + 0.04103762890499998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, 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"Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": 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3.7691572279211814, + -1.1685824508160816, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..158e5e87db0400027c7893770a9096153d7d0398 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,740 @@ +{ + "layout_id": 48, + "style_id": 12, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07046005749999999, + 0.0700773381, + 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"cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the cupcakes from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "stool": "stool_4_room", + "dining_counter": 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+ "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + 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"hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + 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a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eee5a366b93a2976f3888f346d81fa7ad67efb57 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,753 @@ +{ + "layout_id": 42, + "style_id": 54, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11609288640000001, + 0.11194805294999999, + 0.043384427350000004 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + 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a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee317f41df48b26810622b2ac354094ba210909d --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,734 @@ +{ + "layout_id": 54, + "style_id": 59, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05550316911999999, + 0.05414003839999999, + 0.029310765119999995 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + 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b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,706 @@ +{ + "layout_id": 58, + "style_id": 24, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05514044975999998, + 0.08719592111999996, + 0.07980814159999997 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 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1.1460758392151502, + -2.094237496615707, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b2d07bf26650d2a6871484188cfaa65ac7040c1 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,795 @@ +{ + "layout_id": 35, + "style_id": 23, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05550316911999999, + 0.05414003839999999, + 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+} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6065f79b8ebabf083999934ba98ea3a77cc252d2 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,803 @@ +{ + "layout_id": 22, + "style_id": 23, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12196876235249995, + 0.12071956979249995, + 0.04674513605999998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "sweet2", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.1219750099575, + 0.12197962381500001, + 0.042194092710000006 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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"/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.118, + 0.85 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distractor_bread_food", + "obj_groups": "bread_food", + "exclude_obj_groups": "sweets", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "distractor_bread_food_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + } + }, + { + "name": "distractor_glass_cup", + "obj_groups": "glass_cup", + "placement": { + "fixture": "dining_dining_area_group_2", + "size": [ + 1.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml" + }, + "reset_region": { + "size": [ + 2.118, + 0.85 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distractor_glass_cup_2", + "obj_groups": "glass_cup", + "placement": { + "fixture": "dining_dining_area_group_2", + "reuse_region_from": "distractor_glass_cup", + "size": [ + 1.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup011/model.xml" + }, + "reset_region": { + "size": [ + 2.118, 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"floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": 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}, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the donuts from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "stool": "stool_4_room", + "dining_counter": "dining_dining_area_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + 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+} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..072f48e4b38a6efb2c850e7ca3db2ec256e0fff3 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,838 @@ +{ + "layout_id": 29, + "style_id": 37, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05550316911999999, + 0.05414003839999999, + 0.029310765119999995 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + 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3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d2ae68e4a494816b971454c73762a9670647d6c --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,750 @@ +{ + "layout_id": 21, + "style_id": 44, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07046005749999999, + 0.0700773381, + 0.0562027508 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + 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}, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the cupcake and donut from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e52ee863088f95e2f1af1dafd14c36b7d01c485 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,796 @@ +{ + "layout_id": 35, + "style_id": 33, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12196876235249995, + 0.12071956979249995, + 0.04674513605999998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + 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31, + "style_id": 54, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05664036450000001, + 0.05560247025000001, + 0.07553774250000002 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "sweet2", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.12187555904999997, + 0.12177405539249994, + 0.04103762890499998 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tray", + 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false, + "sample_args": { + "reference": "distractor_bread_food_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "distractor_glass_cup", + "obj_groups": "glass_cup", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup009/model.xml" + }, + "reset_region": { + "size": [ + 0.7992837993564511, + 0.6850000000000002 + ], + "offset": [ + 0.08199925999999991, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + }, + { + "name": "distractor_glass_cup_2", + "obj_groups": "glass_cup", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "distractor_glass_cup", + "size": [ + 1.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml" + }, + "reset_region": { + "size": [ + 0.7992837993564511, + 0.6850000000000002 + ], + "offset": [ + 0.08199925999999991, + 0.3075, + 0.46 + ], + "name": "geom_2" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + 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"Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Take the cupcake and donut from the fridge and place them on the empty tray on the dining counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + 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+} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0ca98cd79121acf714d4a20acf0fde03a8d6e21 --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,740 @@ +{ + "layout_id": 48, + "style_id": 33, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05514044975999998, + 0.08719592111999996, + 0.07980814159999997 + ] + }, + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41153d7bbaf8cfaf9ab9ad752e5d91db82ac313c --- /dev/null +++ b/pretrain/composite/ArrangeBuffetDessert/20250730/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,810 @@ +{ + "layout_id": 15, + "style_id": 46, + "object_cfgs": [ + { + "name": "sweet1", + "obj_groups": "sweets", + "exclude_obj_groups": [ + "marshmallow", + "sugar_cube", + "cookie_dough_ball" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06541160210000001, + 0.06551559560000002, + 0.06463819245 + ] + }, + "size": [ + 0.3, + 0.2 + ], + 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0000000000000000000000000000000000000000..8e23ac9b4861674554ffb5d7a8ffc5854b256eac --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 23, + "style_id": 58, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.07728460300000001, + 0.11, + 0.0951638127 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7059999999999995, + 0.65 + ], + "offset": [ + 1.8285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.05000000099999999, + 0.09999999899999998, + 0.14999999549999996 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7059999999999995, + 0.65 + ], + "offset": [ + 1.8285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_cab", + "obj_groups": "all", + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71cba9d48e4150a7c00a5876a0696df8e21f0ee9 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 54, + "style_id": 14, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.07728460300000001, + 0.11, + 0.0951638127 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + 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end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f2cfd62b124f0654946516e0c3e3f74413d534 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 58, + "style_id": 20, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.07876715879999999, + 0.1099989572, + 0.0965910044 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": 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-0.7926031391293056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e74a606c071c52ebc0fd5042bc56d36a5a4244e5 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 48, + "style_id": 54, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + 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b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80db57f5b2a2b6f1654386f7949aa5a322465a85 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 55, + "style_id": 33, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.107013285, + 0.12613161625, + 0.0628187925 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml" + }, + "reset_region": { + "size": [ + 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{ + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.07876715879999999, + 0.1099989572, + 0.0965910044 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8500019999999981, + 0.65 + ], + "offset": [ + 1.825000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.10569093, + 0.10570362, + 0.29252193000000004 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ 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"stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": 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"cab_2_front_group_1", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "size": [ + 2.3999999999999995, + 0.65 + ], + "offset": [ + 2.220446049250313e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "cab_2_front_group_1", + "min_size": [ + 0.031848425599999994, + 0.11617911679999998, + 0.15879855199999998 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_10/model.xml" + }, + "reset_region": { + "size": [ + 2.3999999999999995, + 0.65 + ], + "offset": [ + 2.220446049250313e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_cab", + "obj_groups": "all", + "placement": { + "fixture": "cab_2_front_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + 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"stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the mug and place it upside down in the open cabinet.", + "fixture_refs": { + "cab": "cab_2_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + 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[ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc0b028ef7c672c9032766f8494507680a6c85a --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 15, + "style_id": 23, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.07693444709999998, + 0.105, + 0.0893758425 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": 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[ + 0.0, + 0.0, + 7.085780169280298e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..335e786236bb72e5799fc67a6a32a3a16dbb488f --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 35, + "style_id": 34, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + 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0000000000000000000000000000000000000000..abd72aa1bfc61e78bd1e465d1818f13318908ec0 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 38, + "style_id": 36, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.07728460300000001, + 0.11, + 0.0951638127 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml" + }, + "reset_region": { + "size": [ + 1.3268020000000007, + 0.65 + ], + "offset": [ + -9.899999999962716e-05, + 0.0, + 0.46 + ], + "name": "geom_0" + } 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0.7937086743865471, + -5.34201665438941, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..938be1edd9575f44b82274fb78e6c0bed3388dcf --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 15, + "style_id": 23, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "cab_3_front_group_1", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ccf8419e8044c08aa6b27523522934711fbc47e --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 24, + "style_id": 32, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + 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file mode 100644 index 0000000000000000000000000000000000000000..19add351d8923e5e03f669a1c90a34d77a2cfe33 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 53, + "style_id": 30, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_front_group_1", + "min_size": [ + 0.07856355179999999, + 0.115, + 0.09038899835 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml" + }, + "reset_region": { + "size": [ + 0.3500069999999982, + 0.65 + ], + "offset": [ + -0.1250000000000009, + 0.0, + 0.46 + ], 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newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a4d5cdbfc4234309cdff097db9e3b16c5adf82 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 20, + "style_id": 16, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + 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{ + "cab": "singlecabinet_2_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.941090046596591, + -0.7815434223847407, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..703864a99304a62c5542506e26a6bb5480f555fe --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 20, + "style_id": 32, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + "size": [ + 0.5859999999999999, + 0.65 + ], + "offset": [ + -0.3420000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5859999999999999, + 0.65 + ], + "offset": [ + -0.3420000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_cab", + "obj_groups": "all", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + 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index 0000000000000000000000000000000000000000..3a5b319d0dc0602b7d05302990e0828ddb1b61ad --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 21, + "style_id": 17, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6799999999999998, + 0.65 + ], + "offset": [ + -0.34000000000000014, + 0.0, + 0.46 + ], + "name": 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{ + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.536969697103987, + -0.43573891935862197, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eddd546749162b06fd77a9dcaf44171bd0f0fdb1 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 13, + "style_id": 37, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group_1", + 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upside down in the open cabinet.", + "fixture_refs": { + "cab": "cab_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8706158837897227, + -1.1670170198391072, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..773f9faf19e0337bfad5a0977eec52711db026db --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,561 @@ +{ + "layout_id": 17, + "style_id": 19, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": 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b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3de62f2dfc870edec964ba513184a28eccd51a0a --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 14, + "style_id": 27, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + 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a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04d6e4f36798cc485e8fc7dc0187250b65e67794 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 29, + "style_id": 53, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_6_main_group", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": 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end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ab0f6fb7b4c70a6d29910988a137707e0baf262 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 36, + "style_id": 19, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": 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0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_cab", + "obj_groups": "all", + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9930999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": 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--git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea71bd224c18d2eec70a8fd84a16e41c81f1b85 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 32, + "style_id": 58, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": 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"wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": 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"fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the mug and place it upside down in the open cabinet.", + "fixture_refs": { + "cab": "singlecabinet_3_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.589188485522615, + -0.9133716814240457, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..529c393c8d2b5398d32d5aaeb57bc33287f7e541 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 25, + "style_id": 26, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.07876715879999999, + 0.1099989572, + 0.0965910044 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml" + }, + "reset_region": { + "size": [ + 0.9939999999999989, + 0.65 + ], + "offset": [ + -0.2265000000000006, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.07539657599999999, + 0.076132536, + 0.18854496 + ] + }, + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika006/model.xml" + }, + "reset_region": { + "size": [ + 0.9939999999999989, + 0.65 + ], + "offset": [ + -0.2265000000000006, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_cab", + "obj_groups": "all", + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + 0.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the mug and place it upside down in the open cabinet.", + "fixture_refs": { + "cab": "cab_4_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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at end of file diff --git a/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37e7e40076069787108882a4bfd2de555c0e6d52 --- /dev/null +++ b/pretrain/composite/DryDrinkware/20250714/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 24, + "style_id": 32, + "object_cfgs": [ + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.07693444709999998, + 0.105, + 0.0893758425 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": 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