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b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b610863f03e7478f7b5f635087cdbae8e9d59660 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 57, + "style_id": 46, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "placement": { + "fixture": "island_2_island_group_1", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": 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b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31f9cad43d6ec0cbc982e5a591ba25cc0f8be4ff --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 45, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "placement": { + "fixture": "counter_1_right_group_1", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": 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a/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1cba23e1e8167cb6a8abd62a8a4fc91f70221fa --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,612 @@ +{ + "layout_id": 25, + "style_id": 55, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml", + "placement": { + "fixture": "counter_2_right_group", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": 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"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": "Juice the orange by pressing it against the reamer.", + "fixture_refs": { + "counter": "counter_2_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + 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+} \ No newline at end of file diff --git a/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9cf6c212af98f0366461a970be496472adcc300 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 60, + "style_id": 31, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "placement": { + "fixture": "counter_6_right_group_1", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "reamer", + "obj_groups": "reamer", + "placement": { + "fixture": "counter_6_right_group_1", + "reuse_region_from": "fruit", + "pos": [ + 0, + -1.0 + ], + "size": [ + 0.5, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "reamer" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer005/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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"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": [ + 3.928348434577926, + -1.209311098530528, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.714033083301871e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa3592eec09f05e7ae5f6f6b7b55bf13d80fc6f --- /dev/null +++ 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{ + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "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_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + 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b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..684f9e0b53cf5571e595fa27934ca859174b7423 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 21, + "style_id": 58, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "placement": { + "fixture": "counter_1_left_group", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": 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/dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 33, + "style_id": 35, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "placement": { + "fixture": "counter_1_main_group_1", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 1.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bccb72f99928d42cfa01106e57e31c10da4802c7 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 15, + "style_id": 13, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml", + "placement": { + "fixture": "island_island_group", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + 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b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b3802a3d867361b6110a8f3d401e2894d813919 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 21, + "style_id": 57, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "placement": { + "fixture": "island_island_group", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": 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/dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 52, + "style_id": 18, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "placement": { + "fixture": "counter_1_left_group_1", + "pos": [ + 0, + -1.0 + ], + "rotation": 3.141592653589793, + "rotation_axis": "y", + "size": [ + 0.3, + 0.3 + ] + }, + "init_robot_here": true, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.701226533255471, + -6.483639183480708, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853823117402091 + ] +} \ No newline at end of file diff --git a/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3df67c4f161f66af81b6da13ef8c2b7482ba61f7 --- /dev/null +++ b/pretrain/composite/JuiceFruitReamer/20250902/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 18, + "style_id": 13, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml", + "placement": { + "fixture": "counter_1_left_group", + "pos": [ + 0, + -1.0 + ], + "rotation": 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+ "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.1807617262500001, + 0.1807617262500001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_11/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.1807617262500001, + 0.1807617262500001 + ], + 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plate. Leave the tomato on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, 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"placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3001416423750001, + 0.4976999943750002, + 0.08030757656250002 + ] + }, + "size": [ + 1.0, + 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"/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_0/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": 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"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" + }, + 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Leave the mushroom on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_1/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + 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them on the plate. Leave the grapes on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "counter_3_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, + 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Leave the cherry on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, 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"placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30116344500000014, + 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"stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Create a steak meal by picking up the steak and asparagus from the tray and placing them on the plate. Leave the celery on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.373831764976145, + -6.041545429276475, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414375813994377 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee5f22eb10e7d28de4fbdfb133be64e8bfdb36af --- /dev/null +++ b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,654 @@ +{ + "layout_id": 29, + "style_id": 27, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679562, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3105710550000001, + 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"oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.15528552750000005, + 0.15528552750000005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_10/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.15528552750000005, + 0.15528552750000005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "skewers", + "meat", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "cat": "skewers", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/skewers/skewers_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + 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"bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "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": "PanelCabinet" + }, + "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" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Create a steak meal by picking up the steak and asparagus from the tray and placing them on the plate. Leave the skewers on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4650559999999997, + 1.299989 + ], + "offset": [ + 0.3150210000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28150761000000013, + 0.3806818125000001, + 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}, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "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": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "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" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "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" + }, + 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Leave the bell pepper on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, 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"placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3212370252000001, + 0.4724999905500002, + 0.05008509450000002 + ] + }, + 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"/root/robocasa/robocasa/models/assets/objects/aigen_objs/steak/steak_3/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.16061851260000004, + 0.16061851260000004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_3/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.16061851260000004, + 0.16061851260000004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": 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+ "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "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_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": 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Leave the burrito on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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Leave the dumpling on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2511725775000001, + 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Leave the peach on the tray.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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Leave the beet on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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Leave the radish on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "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" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "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_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + 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Leave the sweet potato on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9686547145612323, + -3.710260556304265, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981459128913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eddaa46c12cb9e8f633a9f6b7b435f977ba260e1 --- /dev/null +++ b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 55, + "style_id": 56, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3001416423750001, + 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"groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/steak/steak_4/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_3/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 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"cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + 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them on the plate. Leave the radish on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -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": [ + 3.62815440529887, + -3.936749164105459, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d55eab28063e97a42b459ab1548c34348e401c8b --- /dev/null +++ b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 35, + "style_id": 49, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28150761000000013, + 0.3806818125000001, + 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], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.14075380500000007, + 0.14075380500000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_10/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.14075380500000007, + 0.14075380500000007 + ], + 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the steak and asparagus from the tray and placing them on the plate. Leave the kebab skewer on the tray.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_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, + 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"obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2511725775000001, + 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"HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_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": "Create a steak meal by picking up the steak and asparagus from the tray and placing them on the plate. Leave the sweet potato on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.32894582205828526, + -4.128431720402629, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3402d216c0990dc6efe2c69dae80afe42cfad743 --- /dev/null +++ b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 29, + "style_id": 33, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679575, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 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"size": [ + 0.14075380500000007, + 0.14075380500000007 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebabs", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "cat": "kebabs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/kebabs/kebabs_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + 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"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": "PanelCabinet" + }, + "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" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Create a steak meal by picking up the steak and asparagus from the tray and placing them on the plate. Leave the kebabs on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_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, + 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": [ + 3.5457954024883884, + -5.434729425049341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818342 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000106/ep_meta.json b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80c8dc9c8e20b5c492fa888fbdb979005ec0379d --- /dev/null +++ b/pretrain/composite/PlateSteakMeal/20250902/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,630 @@ +{ + "layout_id": 17, + "style_id": 13, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.35, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tray", + "obj_groups": "tray", + "init_robot_here": true, + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3001416423750001, + 0.4976999943750002, + 0.08030757656250002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "steak", + "obj_groups": "steak", + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/steak/steak_0/model.xml" + } + }, + { + "name": "asparagus", + "obj_groups": "asparagus", + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "tray", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "asparagus", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "asparagus" + ], + "cat": "asparagus", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/asparagus/asparagus_12/model.xml" + } + }, + { + "name": "random_food", + "obj_groups": [ + "fruit", + "vegetable", + "cooked_food" + ], + "exclude_obj_groups": [ + "steak", + "asparagus" + ], + "graspable": true, + "placement": { + "size": [ + 0.15007082118750004, + 0.15007082118750004 + ], + "ensure_object_boundary_in_range": false, + 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"cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + 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Leave the orange on the tray.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "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": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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end of file diff --git a/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d052a5f4e81c9e7504be0d7825c6c2f81f67d3ec --- /dev/null +++ b/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 49, + "style_id": 20, + "object_cfgs": [ + { + "name": "tray", + "obj_groups": "tray", + "object_scale": 1.2, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2881359766800001, + 0.4777919946000002, + 0.07709527350000003 + ] + }, + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_5_front_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "counter": "counter_2_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": { 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[ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "dining_front_group_1", + "cabinet": "cab_1_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": [ 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"hingecabinet_6_main_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "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, + -0.43 + ], + "size": [ + 0.838452, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "hingecabinet_6_main_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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" + }, + 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}, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group_1", + "cabinet": "hingecabinet_6_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": { + 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"layout_id": 27, + "style_id": 41, + "object_cfgs": [ + { + "name": "tray", + "obj_groups": "tray", + "object_scale": 1.2, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2881359766800001, + 0.4777919946000002, + 0.07709527350000003 + ] + }, + "size": [ + 1.0, + 0.35 + ], + "pos": [ + 0.0, + -1.0 + ], + "rotation": [ + 1.5707963267948966, + 1.5707963267948966 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000016, + 0.65 + ], + "offset": [ + 0.8599999999999994, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_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" + }, + "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_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": 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+ "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "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": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_3_front_group", + "cabinet": "cab_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + 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+ "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "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, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5512959098722434, + -0.9586032989803097, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e35430eb1d38311de185bbe1f84d240033636799 --- /dev/null +++ b/pretrain/composite/PrepareDrinkStation/20250723/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,564 @@ +{ 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"size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "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, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], 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"cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + 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{ + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "There is a tray on the dining counter. Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "cabinet": "cab_2_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": [ 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1.0, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "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, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "mug", + "obj_groups": "mug", + "placement": { + "fixture": "cab_1_front_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + -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": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "cab_1_front_group", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 0.808500471791632, + 0.65 + ], + "offset": [ + 0.242, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + 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"cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + 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Grab the cup, mug, and pitcher and place them on the tray. The pitcher may be placed next to the tray if it cannot fit the tray.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "cabinet": "cab_1_front_group", + "counter": "counter_1_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": [ + 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"cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "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_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick the squashs from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "hingecabinet_2_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5585407524493076, + -0.8049848415160875, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a302f739f69ca5392d31a7cfdb47c7b5e063f7d0 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,663 @@ +{ + "layout_id": 49, + "style_id": 43, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.126256, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.126256, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "broccoli", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 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0.460003 + ], + "name": "geom_0" + } + }, + { + "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7011653936254982, + 0.650178 + ], + "offset": [ + 0.6925758031872511, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_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" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the tangerines from the cabinet and place them in one bowl. Pick the broccoli from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_3_main_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": 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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "orange", + "graspable": true, + "washable": true, + "placement": { + "fixture": "singlecabinet_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "orange" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5142, + 0.3716 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "orange", + "graspable": true, + "washable": true, + "placement": { + "fixture": "singlecabinet_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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Pick the sweet potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_1_main_group_1", + "counter": "counter_2_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": [ + 3.052604425701959, + -0.7648873810602251, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0337f2cdb4f499fb0ab13ba3289627f8a70249d --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 15, + "style_id": 16, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "bell_pepper", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "bell_pepper", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "mushroom", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004622779679119282, + 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+ "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.9710282098843441, + 1.47 + ], + "offset": [ + 0.793985895057828, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the bell peppers from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_1_left_group_1", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8204982520439009, + -2.087946733114739, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2c71c1a8e2c820842e484bad8ba02be8289edee --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 20, + "style_id": 14, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "carrot", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.349, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "carrot", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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"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 the lemons from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.777920176196575, + -0.9438064107086044, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c51963148c91d36b3dabc84298f1ff26e45dc3bd --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 21, + "style_id": 19, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "eggplant", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "eggplant", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + 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"cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + 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"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": "Pick the eggplants from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_left_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the kiwis from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_3_main_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": [ + 4.791287066141396, + -1.1561017751307414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1430bc99c9154f5c3781d75dc07259913c4ba7d7 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,664 @@ +{ + "layout_id": 15, + "style_id": 33, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "carrot", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "carrot", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "eggplant", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 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"cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": 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"cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the carrots from the cabinet and place them in one bowl. Pick the eggplant from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_1_left_group_1", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the potatos from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.236637784930241, + -1.4983888039224895, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5dcbbf5d56853cbee1be95a55bdff7c3f076240 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,648 @@ +{ + "layout_id": 24, + "style_id": 47, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "eggplant", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "eggplant", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017258748743120556, + -0.026202676890061102, + -0.20963700655324127 + ], + "size": [ + 0.6316569528405427, + 0.34406333379046383 + ], + "height": 0.22013193381808002, + "name": "basin" + } + }, + { + "name": "bowl1", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4331664140281641, + 1.95 + ], + "offset": [ + 1.1834167929859176, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5851664140281643, + 1.95 + ], + "offset": [ + -1.1074167929859178, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + 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"Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + 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"coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": 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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "orange", + "graspable": true, + "washable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "orange" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "orange", + "graspable": true, + "washable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", 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Pick the potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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Pick the cucumber from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group", + "cabinet": "cab_2_left_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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[ + { + "name": "food1", + "obj_groups": "sweet_potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "sweet_potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "lemon", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 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"cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + 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"cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": 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Pick the lemon from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_2_left_group_1", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8228125890215241, + -3.977488719150173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4b56337f085eb0f30032bb23ce9d496bfcec1be --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,663 @@ +{ + "layout_id": 17, + "style_id": 30, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "squash", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.735, + 0.395 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "squash", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + 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Pick the broccoli from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_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": [ + 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Pick the avocado from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "cabinet": "cab_1_main_group_1", + "counter": "counter_1_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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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "cucumber", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.5885 + ], + "size": [ + 0.7589999999999999, + 0.5900000000000001 + ], + "height": 0.3723333333333334, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "cucumber", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + 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Pick the kiwi from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_1_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": [ + 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"bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the limes from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.770046342198829, + -0.7617864705755663, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..382034214e5dc29a83c2a250f0f7fc7d80c76c17 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 56, + "style_id": 47, + 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"groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.662187, + 0.369139 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": 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Pick the apple from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_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": [ + 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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "mango", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "mango" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "mango", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" 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"fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + 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Pick the squash from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "sweet_potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "sweet_potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "pear", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "pear" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + 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"cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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"island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the sweet potatos from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_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": [ + 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Pick the squash from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_main_group", + "cabinet": "cab_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.861398544814819, + -0.7889890730164232, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14750de9e8b2eb6953b04f8e63065997746116f6 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 11, + "style_id": 35, + 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"cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "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": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "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" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "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_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the pears from the cabinet and place them in one bowl. Pick the orange from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_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": [ + 4.858507943276907, + -3.610182990576649, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d34f52a088e43947d07d989bdfd7ffc0bbcd5d7 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 15, + "style_id": 59, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "avocado", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "avocado" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "avocado", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "avocado" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "tomato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.14958429767764436, + -0.03917140895965139, + -0.32494772197049476 + ], + "size": [ + 0.5236041967522179, + 0.4069583403710215 + ], + "height": 0.2501962700343294, + "name": "basin" + } + }, + { + "name": "bowl1", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7929561570665359, + 1.47 + ], + "offset": [ + -0.8830219214667321, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8953161570665359, + 1.47 + ], + "offset": [ + 0.8318419214667321, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + 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Pick the pear from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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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": [ + 3.115542420003803, + -0.8287953602075006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1564d42513888d7431cd25147b95589fc8904fb --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,641 @@ +{ + "layout_id": 56, + "style_id": 43, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "opencabinet_3_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.662187, + 0.369139 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "opencabinet_3_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "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_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the tangerines from the cabinet and place them in one bowl. Pick the lime from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "opencabinet_3_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.301510214709194, + -0.8072180764413115, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64a69522b3eee25e15e2c5c34ceef6ae55667a4b --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,573 @@ +{ + "layout_id": 11, + "style_id": 52, + "object_cfgs": 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Pick the sweet potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_1_left_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.15666517755831053, + -5.37965434494279, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff6b4613a056e7191e5a3b8db0c811032445f67 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 28, + "style_id": 19, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "banana", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "banana" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "banana", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "banana" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "garlic", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + 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{ + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "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" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": 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}, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the bananas from the cabinet and place them in one bowl. Pick the garlic from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6424698562814937, + -0.8345347967954768, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64a1e7be7c79152b4ea3d283e65a623644b3d2b7 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 28, + "style_id": 20, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "cucumber", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "cucumber", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 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"name": "geom_1" + } + }, + { + "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5243053503334865, + 0.65 + ], + "offset": [ + -1.077847324833257, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": 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"cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + 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Pick the potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "corn", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.3716 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "corn", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.3716 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "mushroom", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + 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"cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + 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+ } + }, + "gen_textures": {}, + "lang": "Pick the corns from the cabinet and place them in one bowl. 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"knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "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_5_island_group_2.001_base": { + "cls": "Box" + }, + 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Pick the orange from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_1_left_group_1", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.126256, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "lemon_wedge", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + 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Pick the mango from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group", + "cabinet": "cab_2_left_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the lemon wedges from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2311567880885006, + -1.5951163433535767, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4af95d7384afb46a0ee9fb27b20ad67513c3370 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,688 @@ +{ + "layout_id": 29, + "style_id": 41, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "pear", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "pear" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "pear", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "pear" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2743378307648673, + -0.00032859913629010307, + 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"bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3485519814390088, + 1.8 + ], + "offset": [ + 1.1482240092804952, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + 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+ }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "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": "PanelCabinet" + }, + "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" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the pears from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_3_left_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.15238711402021285, + -3.2668134351342992, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc331d19726eccfa0aa48d29802144006cab6e93 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,612 @@ +{ + "layout_id": 50, + "style_id": 22, + 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Pick the cucumber from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_2_right_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": [ 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[ + { + "name": "food1", + "obj_groups": "mango", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "mango" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "mango", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + 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Pick the bell pepper from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "opencabinet_2_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9098565595338723, + -0.7746330591209568, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7804ae2c9ba3d2418c92c00951daa58a39c7515 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 28, + "style_id": 41, + 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}, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + 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Pick the apple from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_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, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6840910918335292, + -0.8422836229898513, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13d8ae6a76dee3459a3bb2f869eb9a00f6664cce --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,686 @@ +{ + "layout_id": 12, + "style_id": 35, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "kiwi", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "kiwi" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "kiwi", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "kiwi" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "tangerine", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.09924350770594688, + 0.0014518934752891371, + -0.15147224954333016 + ], + "size": [ + 0.2945765662544736, + 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"cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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Pick the lemon from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "singlecabinet_03_main_group_1", + "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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"object_cfgs": [ + { + "name": "food1", + "obj_groups": "mushroom", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "mushroom", + "graspable": true, + "washable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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+ "name": "geom_0" + } + }, + { + "name": "bowl2", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3754390827484295, + 1.8 + ], + "offset": [ + 1.1347804586257857, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + 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"cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "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": "PanelCabinet" + }, + "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": 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"cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the mushrooms from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_3_left_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + 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Pick the tangerine from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "cabinet": "cab_3_main_group", + "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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"groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45869699999999997, + 0.220978 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "lemon_wedge", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" 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Pick the banana from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_left_group_1", + "cabinet": "hingecabinet_01_main_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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Pick the peach from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_3_main_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": [ + 4.9596164775343015, + -1.1697475675819897, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ae62f32ead7c17417ebae8f8abcc79f51c1a9b1 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 45, + "style_id": 58, + "object_cfgs": [ + { + "name": "food1", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.5885 + ], + "size": [ + 0.7589999999999999, + 0.5900000000000001 + ], + "height": 0.3723333333333334, + "name": "level0" + } + }, + { + "name": "food2", + "obj_groups": "potato", + "graspable": true, + "washable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { 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Pick the apple from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_main_group", + "cabinet": "cab_1_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8595770920935005, + -0.7838092413355318, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bae0159306d92e409a83525d0be3cb65357b5c67 --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,664 @@ +{ + "layout_id": 17, + "style_id": 25, + 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Pick the avocado from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_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": [ + 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[ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "banana" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "food3", + "obj_groups": "garlic", + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.35, + 0.25 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + 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Pick the garlic from the sink and place it in the other bowl.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_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": [ + -0.7835476135779563, + -2.9669704859585955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/embodiment.json b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/episodes.jsonl b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40c056764fad96b21b9ee2b699a94a7d500fc3cc --- /dev/null +++ b/pretrain/composite/PrewashFoodSorting/20250718/lerobot/meta/episodes.jsonl @@ -0,0 +1,106 @@ +{"episode_index": 0, "tasks": ["Pick the squashs from the cabinet and place them in one bowl. 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Pick the pear from the sink and place it in the other bowl."], "length": 1317} +{"episode_index": 6, "tasks": ["Pick the lemons from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."], "length": 1035} +{"episode_index": 7, "tasks": ["Pick the eggplants from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."], "length": 2214} +{"episode_index": 8, "tasks": ["Pick the limes from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl."], "length": 1260} +{"episode_index": 9, "tasks": ["Pick the kiwis from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."], "length": 1429} +{"episode_index": 10, "tasks": ["Pick the carrots from the cabinet and place them in one bowl. 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Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 1, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the broccoli from the sink and place it in the other bowl."} +{"task_index": 2, "task": "Pick the oranges from the cabinet and place them in one bowl. Pick the avocado from the sink and place it in the other bowl."} +{"task_index": 3, "task": "Pick the garlics from the cabinet and place them in one bowl. Pick the sweet potato from the sink and place it in the other bowl."} +{"task_index": 4, "task": "Pick the bell peppers from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl."} +{"task_index": 5, "task": "Pick the carrots from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 6, "task": "Pick the lemons from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."} +{"task_index": 7, "task": "Pick the eggplants from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 8, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl."} +{"task_index": 9, "task": "Pick the kiwis from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 10, "task": "Pick the carrots from the cabinet and place them in one bowl. Pick the eggplant from the sink and place it in the other bowl."} +{"task_index": 11, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl."} +{"task_index": 12, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl."} +{"task_index": 13, "task": "Pick the avocados from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl."} +{"task_index": 14, "task": "Pick the oranges from the cabinet and place them in one bowl. Pick the corn from the sink and place it in the other bowl."} +{"task_index": 15, "task": "Pick the pears from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 16, "task": "Pick the mangos from the cabinet and place them in one bowl. Pick the kiwi from the sink and place it in the other bowl."} +{"task_index": 17, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the cucumber from the sink and place it in the other bowl."} +{"task_index": 18, "task": "Pick the sweet potatos from the cabinet and place them in one bowl. Pick the lemon from the sink and place it in the other bowl."} +{"task_index": 19, "task": "Pick the squashs from the cabinet and place them in one bowl. Pick the broccoli from the sink and place it in the other bowl."} +{"task_index": 20, "task": "Pick the corns from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 21, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 22, "task": "Pick the broccolis from the cabinet and place them in one bowl. Pick the cucumber from the sink and place it in the other bowl."} +{"task_index": 23, "task": "Pick the eggplants from the cabinet and place them in one bowl. Pick the sweet potato from the sink and place it in the other bowl."} +{"task_index": 24, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the corn from the sink and place it in the other bowl."} +{"task_index": 25, "task": "Pick the eggplants from the cabinet and place them in one bowl. Pick the avocado from the sink and place it in the other bowl."} +{"task_index": 26, "task": "Pick the cucumbers from the cabinet and place them in one bowl. Pick the kiwi from the sink and place it in the other bowl."} +{"task_index": 27, "task": "Pick the apples from the cabinet and place them in one bowl. Pick the bell pepper from the sink and place it in the other bowl."} +{"task_index": 28, "task": "Pick the oranges from the cabinet and place them in one bowl. Pick the banana from the sink and place it in the other bowl."} +{"task_index": 29, "task": "Pick the pears from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 30, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl."} +{"task_index": 31, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 32, "task": "Pick the lemons from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 33, "task": "Pick the onions from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl."} +{"task_index": 34, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."} +{"task_index": 35, "task": "Pick the carrots from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 36, "task": "Pick the kiwis from the cabinet and place them in one bowl. Pick the lemon from the sink and place it in the other bowl."} +{"task_index": 37, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 38, "task": "Pick the mangos from the cabinet and place them in one bowl. Pick the squash from the sink and place it in the other bowl."} +{"task_index": 39, "task": "Pick the sweet potatos from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 40, "task": "Pick the avocados from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."} +{"task_index": 41, "task": "Pick the pears from the cabinet and place them in one bowl. Pick the banana from the sink and place it in the other bowl."} +{"task_index": 42, "task": "Pick the onions from the cabinet and place them in one bowl. Pick the squash from the sink and place it in the other bowl."} +{"task_index": 43, "task": "Pick the squashs from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl."} +{"task_index": 44, "task": "Pick the lemon wedges from the cabinet and place them in one bowl. Pick the bell pepper from the sink and place it in the other bowl."} +{"task_index": 45, "task": "Pick the cucumbers from the cabinet and place them in one bowl. Pick the banana from the sink and place it in the other bowl."} +{"task_index": 46, "task": "Pick the pears from the cabinet and place them in one bowl. Pick the orange from the sink and place it in the other bowl."} +{"task_index": 47, "task": "Pick the avocados from the cabinet and place them in one bowl. Pick the tomato from the sink and place it in the other bowl."} +{"task_index": 48, "task": "Pick the garlics from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl."} +{"task_index": 49, "task": "Pick the eggplants from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 50, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 51, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the lime from the sink and place it in the other bowl."} +{"task_index": 52, "task": "Pick the lemons from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 53, "task": "Pick the tomatos from the cabinet and place them in one bowl. Pick the sweet potato from the sink and place it in the other bowl."} +{"task_index": 54, "task": "Pick the bananas from the cabinet and place them in one bowl. Pick the garlic from the sink and place it in the other bowl."} +{"task_index": 55, "task": "Pick the cucumbers from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 56, "task": "Pick the corns from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl."} +{"task_index": 57, "task": "Pick the kiwis from the cabinet and place them in one bowl. Pick the squash from the sink and place it in the other bowl."} +{"task_index": 58, "task": "Pick the carrots from the cabinet and place them in one bowl. Pick the garlic from the sink and place it in the other bowl."} +{"task_index": 59, "task": "Pick the apples from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 60, "task": "Pick the bananas from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 61, "task": "Pick the peachs from the cabinet and place them in one bowl. Pick the sweet potato from the sink and place it in the other bowl."} +{"task_index": 62, "task": "Pick the garlics from the cabinet and place them in one bowl. Pick the orange from the sink and place it in the other bowl."} +{"task_index": 63, "task": "Pick the apples from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 64, "task": "Pick the mushrooms from the cabinet and place them in one bowl. Pick the lemon wedge from the sink and place it in the other bowl."} +{"task_index": 65, "task": "Pick the pears from the cabinet and place them in one bowl. Pick the sweet potato from the sink and place it in the other bowl."} +{"task_index": 66, "task": "Pick the apples from the cabinet and place them in one bowl. Pick the garlic from the sink and place it in the other bowl."} +{"task_index": 67, "task": "Pick the peachs from the cabinet and place them in one bowl. Pick the squash from the sink and place it in the other bowl."} +{"task_index": 68, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."} +{"task_index": 69, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl."} +{"task_index": 70, "task": "Pick the peachs from the cabinet and place them in one bowl. Pick the kiwi from the sink and place it in the other bowl."} +{"task_index": 71, "task": "Pick the bell peppers from the cabinet and place them in one bowl. Pick the corn from the sink and place it in the other bowl."} +{"task_index": 72, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 73, "task": "Pick the lemon wedges from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 74, "task": "Pick the onions from the cabinet and place them in one bowl. Pick the cucumber from the sink and place it in the other bowl."} +{"task_index": 75, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the pear from the sink and place it in the other bowl."} +{"task_index": 76, "task": "Pick the cucumbers from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 77, "task": "Pick the sweet potatos from the cabinet and place them in one bowl. Pick the potato from the sink and place it in the other bowl."} +{"task_index": 78, "task": "Pick the avocados from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 79, "task": "Pick the onions from the cabinet and place them in one bowl. Pick the garlic from the sink and place it in the other bowl."} +{"task_index": 80, "task": "Pick the mangos from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 81, "task": "Pick the bell peppers from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 82, "task": "Pick the onions from the cabinet and place them in one bowl. Pick the avocado from the sink and place it in the other bowl."} +{"task_index": 83, "task": "Pick the mangos from the cabinet and place them in one bowl. Pick the bell pepper from the sink and place it in the other bowl."} +{"task_index": 84, "task": "Pick the peachs from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 85, "task": "Pick the kiwis from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 86, "task": "Pick the kiwis from the cabinet and place them in one bowl. Pick the mushroom from the sink and place it in the other bowl."} +{"task_index": 87, "task": "Pick the squashs from the cabinet and place them in one bowl. Pick the lemon from the sink and place it in the other bowl."} +{"task_index": 88, "task": "Pick the mushrooms from the cabinet and place them in one bowl. Pick the carrot from the sink and place it in the other bowl."} +{"task_index": 89, "task": "Pick the carrots from the cabinet and place them in one bowl. Pick the tangerine from the sink and place it in the other bowl."} +{"task_index": 90, "task": "Pick the tangerines from the cabinet and place them in one bowl. Pick the lemon wedge from the sink and place it in the other bowl."} +{"task_index": 91, "task": "Pick the bell peppers from the cabinet and place them in one bowl. Pick the onion from the sink and place it in the other bowl."} +{"task_index": 92, "task": "Pick the broccolis from the cabinet and place them in one bowl. Pick the banana from the sink and place it in the other bowl."} +{"task_index": 93, "task": "Pick the mangos from the cabinet and place them in one bowl. Pick the peach from the sink and place it in the other bowl."} +{"task_index": 94, "task": "Pick the potatos from the cabinet and place them in one bowl. Pick the lime from the sink and place it in the other bowl."} +{"task_index": 95, "task": "Pick the peachs from the cabinet and place them in one bowl. Pick the mango from the sink and place it in the other bowl."} +{"task_index": 96, "task": "Pick the limes from the cabinet and place them in one bowl. Pick the apple from the sink and place it in the other bowl."} +{"task_index": 97, "task": "Pick the corns from the cabinet and place them in one bowl. Pick the avocado from the sink and place it in the other bowl."} +{"task_index": 98, "task": "PrewashFoodSorting"} diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/dataset_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7620438fb1e12717eb871d08c7dbd9d70dfbefd9 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "TransportCookware", + "env_args": { + "type": 1, + "env_name": "TransportCookware", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "TransportCookware", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 59, + "style_id": 58, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.2916615216145007, + -0.15171985178784506, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.29448728599192897, + 0.2146981632324575, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_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" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "widestove_main_group_1", + "sink": "sink_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3925138133996793, + -1.022576691437133, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7939199477f1e2c561939a484c2972ba2f9cab76 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,380 @@ +{ + "layout_id": 44, + "style_id": 47, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 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0000000000000000000000000000000000000000..d1706bc1ec668181694087621d2c92db7ac20243 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 56, + "style_id": 18, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 0.2918199968127576, + 0.17973367868063156, + 0.4495052714008425 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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"cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group_1", + "sink": "sink_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1358453185083635, + -0.9194128904655183, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60e996bcb7b3caf0b19ff8cea5973e08fe9c4f1a --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 55, + "style_id": 11, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.19439659994361227, + -0.10836629619364739, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.18976571040382365, + -0.09795662966306808, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + 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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": [ + 3.339633408095185, + -1.007412599238366, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4bf0f23ed50df624cec62215819e967f7dc4ee7 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 42, + "style_id": 23, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.24144324323619382, + -0.06776963761711371, + 0.019035319936225488 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.22364152350605485, + 0.14909833976982964, + 0.019024919332511003 + ], + "size": [ + 0.1, + 0.1 + ], + "name": 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"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": [ + 4.382303408884469, + -1.9851793438065395, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7a4ed194d6481dfbca7877f83bf0ff1136ab9b --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 48, + "style_id": 51, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.29448728599192897, + 0.2146981632324575, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.29718336279207036, + -0.15182910559976268, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2a8cf4dd9c64907d6e251e173451ea4db1f29e --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 17, + "style_id": 51, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": 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"pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + -0.13772931479623662, + 0.16729303725231454, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1996020644575487, + -1.712534897057039, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35257f811afdecbf449e75d8ff5681e5d8db0182 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 43, + "style_id": 18, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.1769749540436422, + -0.09697025316399842, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.1763172679128117, + 0.1573408155818936, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d78ec963a6447422924cbf9b0c3d1898ca41b01 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 15, + "style_id": 25, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_1_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 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{ + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + 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"stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + 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"robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8092380161188115, + -3.1201462168988807, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a525a575b0e0ea263b69a9fe8602fada26b53265 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 20, + "style_id": 50, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + -0.23811360622935657, + 0.206514155286064, + 0.45664184230975824 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0006801035260546808, + 0.20581413037136279, + 0.45664063435832325 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "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_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + 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}, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group", + "sink": "sink_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3192276062686004, + -0.871616424050329, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3390d8a1d9e68434287074e052f3041a4803946c --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 57, + "style_id": 41, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", 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[ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea59fdf7d52e5c9c167ac9929e6e150dbf831c8 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 49, + "style_id": 55, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f01693b08426028f0231754e9fec839e1cb950a --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 22, + "style_id": 19, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_dining_area_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 0.312475623564133, + -0.07219629135189795, + 0.02408438819943681 + ], + "size": [ + 0.1, + 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0000000000000000000000000000000000000000..981ccaabc18e1ada3f4f1fe678bee0c8d7de7936 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 19, + "style_id": 44, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_3", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.17373775486404966, + 0.1579176201008437, + 0.45199208881856817 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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-0.9334574167454163, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..674cc111bd26b73727f7b064ffee7dc32c663545 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 59, + "style_id": 50, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + 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"cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stovetop_left_group", + "sink": "sink_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8138763650804943, + -1.8937401072855684, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40cc846630a4fd3ff414cb1167ff81bccd8e8892 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 42, + "style_id": 34, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + -0.21448856060462929, + -0.08278102426694309, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.21449898694075992, + 0.12178926287043758, + 0.008709589550463406 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_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" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + 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"stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "sink": "sink_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.386439145782689, + -2.01191617698625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd30a2ed54381b3f824906659f2d81ab9987b749 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 26, + "style_id": 29, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + -0.14622969063819963, + 0.18435478552930595, + 0.46313426675014535 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.14636090221691678, + -0.09510533194069311, + 0.4631342364656341 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_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" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + 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+ "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group", + "sink": "sink_1_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": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.233303169894002, + -0.8685849989077896, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08e7b78721c3b8e4106d19f99c53104cbfcac6bf --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 46, + "style_id": 37, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + 0.29079533197140256, + 0.19782494083875476, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.004764714177460448, + -0.0927572174011282, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "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" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + 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"stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group_1", + "sink": "sink_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.084163708523117, + -1.0448171115858036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd83f5bbed2b4da959e1c6beb9067c1d7f33369 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 18, + "style_id": 11, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.1527422659167995, + -0.02707668179549161, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.13772931479623662, + 0.16729303725231454, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "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": { + 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0000000000000000000000000000000000000000..341ef327f576a702f4f677734002582edb4b38ae --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 27, + "style_id": 37, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_front_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + -0.15868875661279488, + 0.14550572089201122, + 0.4520059888974326 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_front_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.17373775486404966, + 0.1579176201008437, + 0.45199208881856817 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": 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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": [ + 3.008718807711467, + -1.9601605898284458, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f78ba3760910a1012977f48ae06ebe8eeddb66b3 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 24, + "style_id": 25, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 0.2622214565724022, + 0.15458496882545458, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.00021140564751492624, + 0.15476023316796525, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { 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diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e41f9880acf6f3e6e10d4e1e4e1ae8e2dc6deac0 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 19, + "style_id": 42, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_3", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ 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0000000000000000000000000000000000000000..18cee30c7b4daf5488477584d1033b1a353c8ae4 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 48, + "style_id": 39, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + -0.00021140564751492624, + 0.15476023316796525, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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+ "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": 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"robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.783122057274907, + -1.0106891281199617, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d549bbc725feee87cafe17aaf7120d527e74ae08 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000038/ep_meta.json @@ 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"init_robot_base_pos": [ + 1.8755201743542491, + -0.8671695793524091, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d099f481180ade341a40e1f155f47fba3777ce9b --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 29, + "style_id": 48, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + -0.20417738887777892, + 0.1146765309571935, + 0.015242468730561752 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.2342592329149151, + -0.09466307098889172, + 0.015242468730561752 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.21486188386612048, + -4.108399377321167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1786c8cfae3e970e5c7bcba0ed460cf84d406a4d --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 12, + "style_id": 50, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.00031280663179826193, + 0.021476215583800837, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + 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+ "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.817502490241166, + -1.874829316329072, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae11b49f50273130714a4ef8e4446054d8bf9326 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 32, + "style_id": 58, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + 0.2916615216145007, + -0.15171985178784506, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.29460943814402885, + 0.21459794851217048, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + 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diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..197bce8c32b9de8941718dcbaabb43b64611b547 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 38, + "style_id": 24, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.767484244352292, + -0.908505415271432, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ec6ca62f58c8c3961809083959ca44a52a5fa1 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 45, + "style_id": 25, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91a55afb85a106e203667f3a4013d28067790e3c --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 16, + "style_id": 57, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 0.45384265819829256 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.19439659994361227, + -0.10836629619364739, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_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" + }, + 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48603b052e7efa445f4c6060354e02e0b91484ad --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 55, + "style_id": 48, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 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--git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edd5439b00ea68e26323b93cdd30ba6a9ef75e6a --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 23, + "style_id": 40, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9468699762741979, + -2.161716772703464, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18ea50688498ac3f86ad453f637e5a96b5b66b9a --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 55, + "style_id": 18, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 0.1763172679128117, + 0.1573408155818936, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + 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+ 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62a3b4995528118beabb7ce07db3b1bc5e2c3b54 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,428 @@ +{ + "layout_id": 53, + "style_id": 14, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f06733bc882047c43d4416c38726c6ee0e9829c8 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 12, + "style_id": 27, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7915971458318795, + -1.9065869632762977, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..624aa100d35d407bb7e0431df7b571167e254fae --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 16, + "style_id": 11, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 0.18988406409958983, + 0.1853399893304247, + 0.45384259347784334 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7255843386476812, + -0.8640900174830962, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73279cc1dc507a30980c906e5cc068d9abf795be --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 21, + "style_id": 54, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + -0.1340235283776802, + 0.19094825648403774, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + 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] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ffa2097a6246dd69c684547e22e18219f2d4e5e --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 33, + "style_id": 13, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + 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-0.9285247329998619, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22ee9dfedd7167abeb89f1adc611cd38f9804a8c --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 20, + "style_id": 45, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..331a4fac9cb988214930ef70af1290dcb088a10f --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 32, + "style_id": 44, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "widestove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + 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"fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.1697292733598175, + -0.09055386345125134, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..792b84941ec851406b4a20fd2bc671a5883570c1 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 31, + "style_id": 42, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + 0.006089991083210428, + -0.04895079086662941, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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0000000000000000000000000000000000000000..55badce10f634cdafc5c9eb68e8f866ef933e573 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 54, + "style_id": 13, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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"fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + 0.1763172679128117, + 0.1573408155818936, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": 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], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1697292733598175, + 0.16156454641941922, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + 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"stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_right_group_1", + "sink": "sink_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": [ + 4.863607269420071, + -3.4533822481516903, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4deba2fcb93424417198b4902a3c4d86f216e85d --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 16, + "style_id": 59, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.15868875661279488, + 0.14550572089201122, + 0.4520059888974326 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.1593645531319272, + -0.09422443449506909, + 0.4519895418255599 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": 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"stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group_1", + "sink": "sink_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": [ + 1.7723747403661447, + -0.8961339667475039, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb33cf888971a1957f7d053521fded8f29a871da --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 37, + "style_id": 46, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + -0.288964293180445, + -0.016386313226351992, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.28980784601126575, + -0.01638620687767317, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..234690c3c4b7baba0229f5256a042e5a91819183 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 55, + "style_id": 25, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.13667874733174834, + -0.08148936972983645, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.14749302765904157, + -0.08274024767106936, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 26, + "style_id": 56, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.1774782907777112, + 0.08868135148846559, + 0.42613691190457936 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": 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"fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.18988406409958983, + 0.1853399893304247, + 0.45384259347784334 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": 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{ + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.1681694840240633, + -3.647632924636499, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c850c94db6c3ae249014334a6e1d9e9b5f7d429 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 22, + "style_id": 43, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_dining_area_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005015490707065102, + 0.1502082234944847, + -0.0021816748666609294 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_dining_area_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.2903353042008961, + 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"wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "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": 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"CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "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" + }, + 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at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccef689472d58ee6c87d8ddf3b93de68ede6f2b5 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,605 @@ +{ + "layout_id": 25, + "style_id": 35, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + 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"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" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7894515352696927, + -0.8773967421386119, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be20cab720da431f050afe7cf25f267bf05045dd --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 37, + "style_id": 29, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.26108926525495824, + -0.12063114790635705, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8108464672697766, + -2.337182063361289, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cfdcb5f089921e7cb9c166d75b3fae8c5f4a2d1 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 47, + "style_id": 27, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 0.1800034429929901, + 0.1543295574593578, + 0.4390424604150111 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + 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"robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.356951831435546, + -0.9152300362412116, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c3cbd7dab53f032bc3ddfb54be090d1cbf9033 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 28, + "style_id": 32, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + -0.25444405795717506, + 0.13746568195098444, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + 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}, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": 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"robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.079466381760448, + -1.7396069676248833, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91d804b60e586ad4a140f3aa80b05798652ccd33 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 23, + "style_id": 36, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + -0.00021140564751492624, + 0.15476023316796525, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "offset": [ + 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+ -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8989554187175064, + -2.1191690177999845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d05e98d6a03f61655bea7c7523762d1d4f5ee93d --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 30, + "style_id": 25, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + -0.1340235283776802, + 0.19094825648403774, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfdfe75105c409f10d3c48fd6b3ab4f41cf54a20 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,368 @@ +{ + "layout_id": 52, + "style_id": 45, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 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0000000000000000000000000000000000000000..c980e6ab225309c3b0635396f1ba8168c9e49bbf --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 34, + "style_id": 52, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.21448856060462929, + -0.08278102426694309, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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}, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4634303955838632, + -0.9469831590299365, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19e936391d9e759e25c5f4a423be19194944a9a3 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 20, + "style_id": 55, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "offset": [ + 0.30272626900243693, + -0.15856018539871577, + 0.4450249861283757 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "offset": [ + 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0000000000000000000000000000000000000000..5b274dfa9c721ea2be2d8a07e6edda0e8e9f5e21 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 60, + "style_id": 59, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 0.1593645531319272, + -0.09422443449506909, + 0.4519895418255599 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0965555156221436, + -0.8668016377439435, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e2ae10b6904f509567e1acd88926da3299ff820 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 49, + "style_id": 51, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + -0.15800929449164697, + 0.14276134893581532, + 0.4390424604150111 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.1800034429929901, + 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"size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 0.1554448332721037, + 0.1345584719579988, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": 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0.8129736445631349, + -1.5073671310303731, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea06f85d672212c0c5e5b6f0ca36527d0c76d3b7 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 54, + "style_id": 37, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.1593645531319272, + -0.09422443449506909, + 0.4519895418255599 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, 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{ + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": 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mode 100644 index 0000000000000000000000000000000000000000..fe68780bdef2476fc240c7d7648bab607fe82784 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 19, + "style_id": 36, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_3", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml" + }, + "reset_region": { + "offset": [ + 0.16618790833424246, + 0.14863972696327488, + 0.4837074381716271 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_3", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + 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"stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stove_main_group_3", + "sink": "sink_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.078701599703298, + -0.8592188222395387, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bdc3decb30c5a0d79d45d9dceeabd3e53a144ea --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 12, + "style_id": 50, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "offset": [ + -0.26108926525495824, + -0.12063114790635705, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + 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"cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the pot and pan from the stove into the sink.", + "fixture_refs": { + "stove": "stovetop_left_group", + "sink": "sink_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, 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100644 index 0000000000000000000000000000000000000000..ec2986f4df68b1b93549e61a8330d818924e94e5 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 28, + "style_id": 36, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.26257306910754263, + 0.14081871516576236, + -0.0033303811972656633 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0009073799783522955, + 0.008246370728486047, + -0.0033258791524991872 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3936a75551305dd763c10da667aa1e88eefe7c --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,389 @@ +{ + "layout_id": 58, + "style_id": 24, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + 0.1709519476969914, + 0.2073022300954388, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.20074877808322203, + -0.06912926694207545, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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file diff --git a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6591c43835878bb9740b7a5446bb506490e34ed0 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 47, + "style_id": 59, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + 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a/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d50a07580e1d20f9a555d20523701eb0f42712d4 --- /dev/null +++ b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 55, + "style_id": 47, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml" + }, + "reset_region": { + "offset": [ + 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b/pretrain/composite/TransportCookware/20250717/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,428 @@ +{ + "layout_id": 53, + "style_id": 54, + "object_cfgs": [ + { + "name": "pot", + "obj_groups": "pot", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pot" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml" + }, + "reset_region": { + "offset": [ + -0.1340235283776802, + 0.19094825648403774, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.2, + 0.2 + ] + }, + "type": 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