diff --git a/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d939553d979df8385a8e1dff71a6e2498f91bff --- /dev/null +++ b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 21, + "style_id": 29, + "object_cfgs": [ + { + "name": "condiment1", + "obj_groups": "condiment", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "condiment" + ], + "cat": "shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_1/model.xml" + }, + "reset_region": { + 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a/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c996e1b15ba8deb299d1cc9ce126700bc087fd8 --- /dev/null +++ b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 19, + "style_id": 12, + "object_cfgs": [ + { + "name": "condiment1", + "obj_groups": "condiment", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "condiment" + ], + "cat": "mayonnaise", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise001/model.xml" + }, + "reset_region": 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index 0000000000000000000000000000000000000000..45b2d3e27e622f425fad372ff076d9edf008813c --- /dev/null +++ b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 16, + "style_id": 55, + "object_cfgs": [ + { + "name": "condiment1", + "obj_groups": "condiment", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "syrup_bottle", + "condiment" + ], + "groups": [ + "condiment" + ], + "cat": "syrup_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "condiment2", + "obj_groups": "condiment", + 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b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ecea43d7cdfd74bea80c4d3894f3c82629463cc --- /dev/null +++ b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 45, + "style_id": 52, + "object_cfgs": [ + { + "name": "condiment1", + "obj_groups": "condiment", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "condiment" + ], + "cat": "ketchup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + 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newline at end of file diff --git a/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f478f185ece0b1da42e80550ff66d8b8c97f3f1 --- /dev/null +++ b/pretrain/composite/SeasoningSpiceSetup/20250728/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 21, + "style_id": 25, + "object_cfgs": [ + { + "name": "condiment1", + "obj_groups": "condiment", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.5, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "condiment" + ], + "cat": "ketchup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_2/model.xml" + }, 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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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+ "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": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group", + "stool": "stool_4_room", + "dining_counter": "counter_5_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": [ + 0.7955192612521741, + -1.5127823839699481, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7f7a2faf2afdf10ddaf6afb1128bd03e65ed01 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,730 @@ +{ + "layout_id": 25, + "style_id": 53, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044825707295858844, + 0.15176515130585794, + 0.029446974885325286 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apricot", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "apricot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/apricot/apricot_4/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.26814478193999997, + 0.26814487431375, + 0.022742150996249995 + ] + }, + "size": [ + 0.4, + 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"cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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": [ + 4.032459160342756, + -1.6643519042849415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab96f5a49bd5d98fdbd6f6a2e42726945a75d91 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_right_group_1", + "counter": "counter_1_right_group_1", + "stool": "stool_1_room", + "dining_counter": "dining_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": { + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1", + "stool": "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": { 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"layout_id": 54, + "style_id": 31, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044825707295858844, + 0.15176515130585794, + 0.029446974885325286 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.28145482568775, + 0.28145564137125, + 0.02669971630725 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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": [ + 1.4449739062983995, + -1.2796300681864237, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..baa1104df4dc02f6eb243d4513c53e2e70695136 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 54, + "style_id": 41, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": 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-0,0 +1,568 @@ +{ + "layout_id": 46, + "style_id": 60, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03296608354, + 0.15176514626, + 0.033977271639999994 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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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{ + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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-0,0 +1,552 @@ +{ + "layout_id": 48, + "style_id": 39, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.26665393481999994, + 0.26665402719375, + 0.01619311294125 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": 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"Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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-0,0 +1,563 @@ +{ + "layout_id": 27, + "style_id": 36, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02848628524651625, + 0.18631078763076114, + 0.04644941315049696 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.5386462690689253 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + 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+ "style_id": 49, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044825707295858844, + 0.15176515130585794, + 0.029446974885325286 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": 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plate on the dining table. 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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-0,0 +1,730 @@ +{ + "layout_id": 25, + "style_id": 55, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + 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"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" + }, + 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on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": 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31, + "style_id": 24, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044825707295858844, + 0.15176515130585794, + 0.029446974885325286 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.28145482568775, + 0.28145564137125, + 0.02669971630725 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_10/model.xml" + }, + "reset_region": { + "size": [ + 0.4406939113077738, + 0.6850000000000002 + ], + "offset": [ + 0.2550280024300653, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "island_island_group_1", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -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": [ + 5.581843689738521, + -2.7927189815360975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..331fbfe72cced4648c422d7a4e5fe62e44a1afcf --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000028/ep_meta.json @@ 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"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": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_2_right_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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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"ref", + -0.9 + ] + }, + "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": [ + 0.9484648108722764, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_1_main_group_1", + 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the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "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": [ + 1.3780975912022362, + -0.6209704278020095, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23da83b6e08ae772883475a705d46858550f72eb --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 56, + "style_id": 22, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039286583215810945, + 0.15176514771567337, + 0.018121210184823808 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.28145482568775, + 0.28145564137125, + 0.02669971630725 + ] + }, + "size": [ + 0.4, + 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+ "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "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_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + 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{ + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "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" + }, + "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" + }, + 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dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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-0,0 +1,525 @@ +{ + "layout_id": 14, + "style_id": 24, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.26814478193999997, + 0.26814487431375, + 0.022742150996249995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": 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}, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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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[ + "ref", + -0.9 + ] + }, + "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": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group", + "stool": "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": [ + 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+ "style_id": 22, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.029170721059999998, + 0.15176515522999995, + 0.01812121194 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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+1,568 @@ +{ + "layout_id": 46, + "style_id": 59, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052700872899999994, + 0.16486714637055538, + 0.04975375395541771 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "celery", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "celery", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/celery/celery_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.28280166849675, + 0.28278785931975, + 0.03798424947825 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2083578830147497, + 1.039938 + ], + "offset": [ + -0.7708240584926251, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_1_main_group_1", + 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}, + "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": { + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_3_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" + }, + 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+1,523 @@ +{ + "layout_id": 14, + "style_id": 29, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2951264673306809, + 0.292451112788559, + 0.08672102092666481 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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+1,560 @@ +{ + "layout_id": 27, + "style_id": 21, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.029170721059999998, + 0.15176515522999995, + 0.01812121194 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "stool": "stool_1_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": [ 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-0,0 +1,511 @@ +{ + "layout_id": 41, + "style_id": 41, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + }, + { + "name": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1", + "stool": "stool_1_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": { 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"layout_id": 41, + "style_id": 53, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.029170721059999998, + 0.15176515522999995, + 0.01812121194 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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": [ + 1.1482843456958174, + -2.9525325200156947, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f10f19e357dea1b4f2413a5d25c9bbc3e5770cfe --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 38, + "style_id": 25, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052700872899999994, + 0.16486714637055538, + 0.04975375395541771 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.18449748789877732, + 0.1504713687731577, + 0.20975775030992314 + ], + "size": [ + 0.4145411366001111, + 0.39914873020115793 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "fridge_distractor", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_left_group", + "counter": "counter_1_left_group", + "stool": "stool_4_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": [ 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+ "style_id": 36, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02848628524651625, + 0.18631078763076114, + 0.04644941315049696 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.17238719531640995, + 0.07211299141537748, + 0.48094512157663805 + ], + "size": [ + 0.4327914379496719, + 0.5818313057463191 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pomegranate", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pomegranate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pomegranate/pomegranate_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.17238719531640995, + 0.07457561300027353, + -0.36222768069623246 + ], + "size": [ + 0.4327914379496719, + 0.576906062576527 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.26665393481999994, + 0.26665402719375, + 0.01619311294125 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "type": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group", + "stool": "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": [ + 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the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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-0,0 +1,548 @@ +{ + "layout_id": 57, + "style_id": 42, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03296608354, + 0.15176514626, + 0.033977271639999994 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + 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+1,559 @@ +{ + "layout_id": 21, + "style_id": 23, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039286583215810945, + 0.15176514771567337, + 0.018121210184823808 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pork_loin", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pork_loin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pork_loin/pork_loin_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.18537598586825077, + 0.15951342820843922, + -0.1222076693607887 + ], + "size": [ + 0.4138180582737938, + 0.4219380698068135 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2678428079250001, + 0.26967499597500005, + 0.016099999839000005 + ] + }, + "size": [ + 0.4, + 0.4 + ], + 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{ + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group", + "stool": "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": [ + 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"style_id": 42, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02848628524651625, + 0.18631078763076114, + 0.04644941315049696 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": 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+ }, + "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": [ + 3.383407894556147, + 0.394049 + ], + "offset": [ + -0.08336505272192651, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_6_right_group_1", + "sample_region_kwargs": { + "ref": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_2_left_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "stool": "stool_1_room", + "dining_counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "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": [ + 1.169659706298235, + -0.7900448449649167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..beddef2f368b7ddce41f88e77483bd8632324d19 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 60, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_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" + }, + 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-0,0 +1,538 @@ +{ + "layout_id": 45, + "style_id": 16, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02848628524651625, + 0.18631078763076114, + 0.04644941315049696 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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": [ + 3.396238878703059, + -4.461018451890199, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..981b5464126a7d53a11611f822d764006b1c6687 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 56, + "style_id": 52, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039286583215810945, + 0.15176514771567337, + 0.018121210184823808 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cherry", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cherry", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/cherry/cherry_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28280166849675, + 0.28278785931975, + 0.03798424947825 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 0.623096451306255, + 1.604605 + ], + "offset": [ + -0.653981982904698, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.03491988607800002, + 0.2110500134820001, + 0.020045454345000005 + ] + }, + "size": [ + 0.3, + 0.35 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "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_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "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" + }, + "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": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -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": [ + 5.584224452644791, + -2.861577257045355, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d71f354c1d5e7221884db0b9692584a90e527c57 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 38, + "style_id": 14, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050725520430000004, + 0.15176515224, + 0.029446970149999998 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pork_loin", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pork_loin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pork_loin/pork_loin_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.2692696247010001, + 0.2696750012880001, + 0.03622500096600001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "stool": "stool_1_room", + "dining_counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + 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"style_id": 17, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052700872899999994, + 0.16486714637055538, + 0.04975375395541771 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": 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"cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1", + "stool": "stool_1_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": { 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"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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "stool": "stool_1_room", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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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"fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebabs", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebabs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/kebabs/kebabs_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2951264673306809, + 0.292451112788559, + 0.08672102092666481 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "type": 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_2_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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": 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the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1", + "stool": "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": { + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_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" + }, + 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-0,0 +1,559 @@ +{ + "layout_id": 21, + "style_id": 27, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03296608354, + 0.15176514626, + 0.033977271639999994 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "fridge_distractor", + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1", + "stool": "stool_2_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -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": [ + 1.2443774913176682, + -3.9396390770500402, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5f510a6a87922b2cce880c43b17d97fc0fe3dd2 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 54, + "style_id": 17, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02848628524651625, + 0.18631078763076114, + 0.04644941315049696 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2678428079250001, + 0.26967499597500005, + 0.016099999839000005 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.03491988607800002, + 0.2110500134820001, + 0.020045454345000005 + ] + }, + "size": [ + 0.3, + 0.35 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "reset_region": { + "size": [ + 1.022279, + 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" + }, + "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" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_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" + }, + "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": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "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_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "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": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Retrieve the butter from the fridge and place it on a plate on the dining table. Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1", + "stool": "stool_1_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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": [ + 1.5983842919557314, + -1.2091057501024574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..337e664a10bec3faffbb9c4050e3c1806716ef92 --- /dev/null +++ b/pretrain/composite/SetupButterPlate/20250801/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 28, + "style_id": 44, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.029170721059999998, + 0.15176515522999995, + 0.01812121194 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "exclude_obj_groups": "butter_stick", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.35, + 0.35 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/beer/beer_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "object_scale": 1.15, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2713613315490001, + 0.26967499066200007, + 0.0402499995975 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.9 + ] + }, + "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": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "butter_knife", + "obj_groups": "knife", + "object_scale": [ + 1.1, + 1.1, + 1.75 + ], + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml", + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/knife/knife_8/model.xml" + }, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + 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{ + "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" + }, + 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Then retrieve the butter knife by the fridge and place it near the plate.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1", + "stool": "stool_3_room", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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" + }, + 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+1,528 @@ +{ + "layout_id": 32, + "style_id": 33, + "object_cfgs": [ + { + "name": "butter", + "obj_groups": "butter_stick", + "object_scale": 1.15, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03296608354, + 0.15176514626, + 0.033977271639999994 + ] + }, + "size": [ + 0.2, + 0.2 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.4355385663470876 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "fridge_distractor", + 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+ "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "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_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "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": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + 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"Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "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 chicken drumstick and lemon wedge from their plates and place them in the bowl. Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_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": [ + 2.3955774195708432, + -3.516319058016132, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5709472799547157 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversInBowl/20250804/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/StoreLeftoversInBowl/20250804/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea09bb59bf9fdf71d60b0451c679f0c26c218eb --- /dev/null +++ b/pretrain/composite/StoreLeftoversInBowl/20250804/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,709 @@ +{ + "layout_id": 24, + "style_id": 11, + "object_cfgs": [ + { + "name": "chicken_drumstick_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "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": [ + 1.5456316980517522, + 1.95 + ], + "offset": [ + -1.1271841509741238, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "chicken_drumstick", + "obj_groups": "chicken_drumstick", + "placement": { + "size": [ + 0.01, + 0.01 + ], + 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from their plates and place them in the bowl. Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1", + "fridge": "fridgefrenchdoor_left_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -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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false, + "sample_args": { + "reference": "chicken_drumstick_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + 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"Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_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": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the chicken drumstick and garlic from their plates and place them in the bowl. Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_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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"cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_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": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_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": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + 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Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group", + "fridge": "fridge_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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"reference": "chicken_drumstick_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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"sample_args": { + "reference": "chicken_drumstick_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + 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chicken drumstick and bell pepper from their plates and place them in the bowl. Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_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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"stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_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": 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"Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the chicken drumstick and onion from their plates and place them in the bowl. Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_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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Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_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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Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridgefrenchdoor_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 + ], + 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Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_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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false, + "sample_args": { + "reference": "chicken_drumstick_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + 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"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" + }, + 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Then put the bowl in the fridge.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_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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Then put the bowl in the fridge."} +{"task_index": 1, "task": "Pick the chicken drumstick and sweet potato from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 2, "task": "Pick the chicken drumstick and squash from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 3, "task": "Pick the chicken drumstick and corn from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 4, "task": "Pick the chicken drumstick and cucumber from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 5, "task": "Pick the chicken drumstick and lime from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 6, "task": "Pick the chicken drumstick and lemon wedge from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 7, "task": "Pick the chicken drumstick and mushroom from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 8, "task": "Pick the chicken drumstick and lemon from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 9, "task": "Pick the chicken drumstick and onion from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 10, "task": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 11, "task": "Pick the chicken drumstick and tomato from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 12, "task": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 13, "task": "Pick the chicken drumstick and garlic from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 14, "task": "Pick the chicken drumstick and eggplant from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 15, "task": "Pick the chicken drumstick and bell pepper from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 16, "task": "Pick the chicken drumstick and avocado from their plates and place them in the bowl. Then put the bowl in the fridge."} +{"task_index": 17, "task": "StoreLeftoversInBowl"}